FATEK SD3 Series, Инструкция по эксплуатации, Страница: 329 / 396

37 SD3 Series Instruction Manual
Tuning
7
7. Tuning
3. Tuning Parameters
3. Tuning Parameters
Y
N
N
①
②
N
Y
N
Y
Y
Measuring vibration frequency
Machine motion and the direction of vibration
*1）vibration that does not affect torque command value nor position deviation
Set the frequency to the best possible value first, then set the notch depth.
Vibration
*2) Set the high-frequency gain to a lower value.
Note that decreasing the gain will tend to cause a position deviation error.
Measure position deviation vibration
with a laser displacement sensor or Servo Studio .
① coaxial
Measure the frequency with a laser
displacement sensor.
（ Servo Studio does not work
(*1)
)
② Orthogonal
In case setting the notch filter alone is not enough to suppress vibration
Set γ-Notch Filter
(*2)
Is a measurement tool
available?
Is measuring
vibration possible?
A measurement tool such as a laser displacement
sensor is available.
Directly measure vibration frequency.
No measurement tool.
By using Servo Studio , measure torque command value
and vibration of position deviation.
Set the parameter to the vibration frequency
Write to Amplifier
Setup Complete
Setting more than one notch filters may affect the filter of lower level.
Check the frequency and width again.
When setting the second level filter, change the notch depth accordingly.
Decreasing the notch depth may reduce vibration.
Further adjust within the acceptable range
of position deviation
Write to Amplifier
Setup Complete
Notch filter
Page 39
Setting Position command filter
Find the best frequency that will suppress the vibration.
Step 1 Coarse tuning of frequency
Change the measured vibration frequency by 1Hz at a time.
Step 2 Fine tuning of frequency
Change the setting by 0.1Hz at a time after coarse tuning is done.
Frequency: 20Hz or less (given as a guideline)
Check for vibration
Was the vibration
suppression successful?
Setting Position command filter
Adjusting Notch Width
Increase Notch Width while checking the effect of the filer.
Width: Increase (from the initial value of 512) up to approximately 800 -given as a guideline.
Use of the notch filer will increase the position deviation.
Adjust the width within the acceptable range of the position deviation.
Check for vibration again
Setting Position command filter
Set the second level filter. larger notch width setting.
about： 1,000
Method 1 Method 2
or
【application】 Setting Position command filter
Notch filter
Page 39
Notch filter
Page 39
γ- Notch filter
Page 40
Using Position command filter
Was the vibration
suppression successful?
Direction of motion