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11 Adjustment Functions
11 - 16
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1
Adjust the position loop gain and the velocity loop gain.
In the easy tuning, manual tuning, advanced tuning, etc., Adjust
1st Position Control Gain
or
2nd Position Control Gain
(1st: 3213 hex, 2nd: 3214 hex),
1st Velocity Control Gain
or
2nd
Velocity Control Gain
(1st: 3223 hex, 2nd: 3224 hex), and
1st Torque Command Filter
or
2nd Torque Command Filter
(1st: 3233 hex, 2nd: 3234 hex).
2
Measure the vibration frequency at the tip of the mechanical unit.
Measure the vibration frequency by using a device such as a laser displacement meter, servo
accelerometer, and acceleration pick-up.
Set the measured vibration frequency in one of
1st to 4th Frequency
(01 hex, 03 hex, 05 hex,
07 hex) of
Damping Filter 1
or
2
(1: 3013 hex, 2: 3014 hex). Also set
Damping Filter 1 Selec-
tion
(01 hex) or
Damping Filter 2 Selection
(02 hex) of
Damping Control
(3012 hex) so that
the frequency set in the above step is enabled.
If the frequency is set in
1st Frequency
(01 hex) of
Damping Filter 1
(3013 hex), set
Damping
Filter 1 Selection
(01 hex) of
Damping Control
(3012 hex) to
1
.
If vibration persists after you set the frequency, increase or decrease the damping frequency to
find a proper frequency at which vibration decreases.
3
Make the damping filter settings.
Set the corresponding damping time coefficient of
Damping Filter 1
or
Damping Filter 2
(1:
3013 hex, 2: 3014 hex).
First, set it to 100% and check the torque waveform during operation. Setting a value smaller
than 100% for the damping time can shorten the vibration suppression time, but it increases the
maximum operation speed and torque command. Set the damping time within a range in which
the maximum motor velocity is not exceeded and torque saturation does not occur. The effects
of vibration suppression will be lost if the maximum motor velocity is exceeded or torque satura-
tion occurs.
Also, setting a large value for the damping time can reduce the torque command while the set-
ting time gets long.
4
Set
Damping Control
(3012 hex).
You can switch Damping filter 1 and 2 according to the conditions of the machine vibration.
11-7-2 Operating Procedure
Set value
(hex)
Description
01
Damping Filter 1 Selection
02
Damping Filter 2 Selection
Torque command
Torque saturation
Small damping time
coefficient
Appropriate damping
time coefficient
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
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