Fuji Electric ALPHA7, Руководство пользователя

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CHAPTER 5 SERVO ADJUSTMENT
5-26
Special Adjustment (Vibration Suppression)
5
5.9 Special Adjustment (Vibration Suppression)
5.9.1 What is Vibration Suppression ?
 Purpose of vibration suppression
The end of the workpiece held in a structure having a spring characteristic such as the robot arm and
transfer machine vibrates during quick acceleration or deceleration of the motor. The vibration
suppression function aims at suppression of the workpiece and realization of positioning in a shorter
cycle time in such a system.
Not only vibration of the tip of the machine but also vibration of the entire machine can
be suppressed.

System without vibration suppression
At motor acceleration / deceleration, torque tends to reach maximum value. This
acceleration / deceleration shock could cause vibration to the entire machine.

System with vibration suppression
Because the torque is controlled during acceleration / deceleration of the motor, the
shock of acceleration/deceleration is reduced, and even with machine that is
relatively less rigid, the vibration to the entire machine can be reduced.
ﾚｰｻﾞｰ
変位計
a) Without vibration suppression function b) With vibration suppression function
Target position
of arm
Actual speed
Target position of arm
Actual speed
No vibration
Rattling
500 [r/min/div]
2 [min/div] 2 [min/div]
500 [r/min/div]
Laser
displace-
ment
gauge
Laser
displace-
ment
gauge