Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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7 SPECIAL ADJUSTMENT FUNCTIONS
7.1 Filter setting
Vibration suppression control manual mode
• When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side
vibration frequency does not produce an effect.
• When the anti-resonance frequency and resonance frequency can be confirmed using the machine
analyzer or external equipment, do not set the same value but set different values to improve the vibration
suppression performance.
• The setting ranges of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] vary depending on the value in [Pr.
PB07]. If a value out of the range is set, the vibration suppression control is disabled.
Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the
following parameters to adjust vibration suppression control manually.
1.
Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)"
of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02].
2.
Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control - Resonance frequency" as
follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have the following usable
range and recommended range.
• When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment.
Setting item Vibration suppression control 1 Vibration suppression control 2
Vibration suppression control - Vibration frequency [Pr. PB19] [Pr. PB52]
Vibration suppression control - Resonance
frequency [Pr. PB20] [Pr. PB53]
Vibration suppression control - Vibration frequency
damping [Pr. PB21] [Pr. PB54]
Vibration suppression control - Resonance
frequency damping [Pr. PB22] [Pr. PB55]
Vibration suppression control Usable range Recommended setting range
Vibration suppression control 1 [Pr. PB19] > 1/2
 
(0.9

[Pr. PB07])
[Pr. PB20] > 1/2
 
(0.9

[Pr. PB07])
[Pr. PB19] > 1/2
 
(1.5

[Pr. PB07])
[Pr. PB20] > 1/2
 
(1.5

[Pr. PB07])
Vibration suppression control 2 When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1

[Pr. PB07])
[Pr. PB53] > (5.0 + 0.1

[Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 2

(0.3

[Pr. PB19] + 1/8

[Pr. PB52])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3

(4

[Pr. PB19] + 2

[Pr. PB52])
1 Hz
Gain characteristics
Phase
-90 degrees
300 Hz
Vibration suppression control 1 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB19]
Vibration suppression control 1 -
Resonance frequency
[Pr. PB20]
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]
Resonance of more than
300 Hz is not the target of control.