NSK M-EGA-15A2301, Руководство пользователя, Страница: 161 / 237

6.Adjustments Automatic tuning of notch filter
6-11
6.3 Automatic tuning of notch filter
Automatic notch filter can suppress high frequency resonance resulting from coupling and rigidity
from the device mechanism.
With short periods of operation of driver and motor, the mechanical resonance frequency can be
found easily.
1) Operation method
■
Operate from Auto-tuning mode in Software Setup or Digital Operator.
■
The tuning results are saved automatically in [Group2 ID20: Torque Command Notch Filter A
(TCNFILA)].
✔
Torque command notch filter function can be used together with Auto-tuning at the same time.
✔
Holding torque falls while auto notch filter is running. Do not use as a gravity axis.
■
When resonance of the device does not stop even after using Automatic Tuning of notch filter,
there may be two or more resonance points.
In this case, inquire about the resonance frequency using the system analysis function and
insert Notch filter B, C, D (Manual setting) to suppress each resonance. If resonance is still not
suppressed, there is a possibility that auto-tuning response or gain control is too high. Lower
the Auto-Tuning Response or control gain.
2) Setting parameters
■
Torque command value for notch filter tuning
Setting the Torque command value to the motor at the time of Automatic tuning of notch filter:
◆
General parameters Group0 [Auto-tuning settings]
ID Symbol Name Unit Setting range
10 ANFILTC
Automatic tuning of notch filter Torque
Command
% 10.0 to 100.0
✔
As the value increases so does tuning accuracy. However, machine movement will increase as well. Please
monitor it closely.
■
Automatically saving parameters with Automatic tuning of notch filter
◆
General parameters Group2 [FF vibration suppression control/Notch filter/
Disturbance observer settings]
ID Symbol Name Unit Setting range
20 TCNFILA Torque Command Notch Filter A Hz 100 to 4000
✔
The above parameter is saved automatically with Automatic tuning of notch filter