Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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7 SPECIAL ADJUSTMENT FUNCTIONS
7.1 Filter setting
Advanced vibration suppression control II
• The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is "Auto tuning mode 2 (_ _ _
2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)".
• The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to
100.0 Hz. As for the vibration out of the range, set manually.
• Stop the servo motor before changing the vibration suppression control-related parameters. Otherwise, it
may cause an unexpected operation.
• For positioning operation during execution of vibration suppression control tuning, provide a stop time to
ensure a stop after vibration damping.
• Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo
motor side is small.
• Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When
the response setting is increased, set vibration suppression control tuning again.
• When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The
servo motor-side operation is adjusted for positioning so that the machine does not vibrate.
When the advanced vibration suppression control

([Pr. PB02 Vibration suppression control tuning mode]) is executed, the
vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the positioning operation is
performed the predetermined number of times. For manual setting, adjust the vibration suppression control 1 with [Pr. PB19]
to [Pr. PB22] and vibration suppression control 2 with [Pr. PB52] to [Pr. PB55].
Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control  )].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode selection". When you use two
vibration suppression controls, set "Vibration suppression control 2 tuning mode selection" in addition.
Vibration suppression: off (normal)
Servo motor side
Load side
t
Position
Vibration suppression control: on
Servo motor side
Load side
Position
t
[Pr. PB02]
Vibration suppression control 1 tuning mode
0 0
_ _ _ 0
_ _ _ 1
_ _ _ 2
Setting
value
Vibration suppression control 1
tuning mode selection
Disabled
Automatic setting
Manual setting
PB19/PB20/PB21/PB22
Automatically set parameter
Vibration suppression control 2 tuning mode
_ _ 0 _
_ _ 1 _
_ _ 2 _
Setting
value
Vibration suppression control 2
tuning mode selection
Disabled
Automatic setting
Manual setting
PB52/PB53/PB54/PB55
Automatically set parameter
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