Omron R88D-GT series, Руководство пользователя

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7-30
7-5 Manual Tuning
7
Adjustment Functions
Machine Resonance Control
When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus
not allowing the gain to be set to a high value. In this case, the resonance can be suppressed by
using the two filter types.
Torque Command Filter (Pn14, Pn1C)
The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be
calculated using the following equation.
Cut-off frequency (Hz) fc =
Notch Filter
• Adaptive Filter (Pn23, Pn2F)
The OMNUC G-Series Servo Drives use an adaptive filter to control vibration for loads that are
difficult to handle with the previous notch filters and torque filters, such as when each device has
a different resonance point. The adaptive filter is enabled by setting the Adaptive Filter Selection
(Pn23) to 1.
• Notch Filters 1 and 2 (Pn1D, Pn1E, Pn28, Pn29, and Pn2A)
The OMNUC G-Series Servo Drives provide two normal notch filters. Notch Filter 1 can be used
to adjust the frequency and width, and Notch Filter 2 can be used to adjust frequency, width, and
depth with parameters.
Parameter
No.
Parameter name Explanation
Pn23
Adaptive Filter
Selection
1: The adaptive filter is enabled.
Pn2F
Adaptive Filter Table
Number Display
Displays the table number corresponding to the frequency for
the adaptive filter.
The setting of this parameter cannot be changed.
Parameter
No.
Parameter name Explanation
Pn1D
Notch Filter 1
Frequency
Set 10% lower.
Pn1E Notch Filter 1 Width Set according to the characteristics of the resonance points.
Pn28
Notch Filter 2
Frequency
Set 10% lower.
Pn29 Notch Filter 2 Width
Set according to the characteristics of the resonance points.
Pn2A Notch Filter 2 Depth
1
2
π ×
parameter setting
×
10
−
5
=
1
2
π
T