5.6 Anti-resonance Control Adjustment Function (Fn204)
5-45
5
Adjustments
7
Move the cursor with the
or
Key and press
the
or
Key to adjust the damping gain.
Waveform
Note:
Increase the damping gain from about 0% to 200% in
10% increments while checking the effect of vibra-
tion reduction. If vibration reduction is still insuffi-
cient at a gain of 200%, cancel the setting, and lower
the control gain by using a different method, such as
one-parameter tuning.
8
If fine-tuning of the frequency is necessary, press the
Key. The cursor will move from “damp” to
“freq”.
If fine-tuning is not necessary, skip step 9 and go to
step 10.
9
Move the cursor with
or
Keys and press the
or
Keys to fine-tune the frequency.
10
Press
Key to save the settings.
“DONE” will blink for approx. 2 seconds and “RUN”
will be displayed.
11
Press the
Key to complete the anti-resonance
control adjustment function. The screen in step 1 will
appear again.
Step
Display after Operation
Keys
Operation
㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆
㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦
㨐㨍㨙㨜 㧩 㧜㧜㧞㧜
Error
Error
Torque reference
Torque reference
Positioning completed
Positioning completed
signal
signal
Error
Force reference
Positioning completed
signal
㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆
㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦
㨐㨍㨙㨜 㧩 㧜㧝㧞㧜
㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆
㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦
㨐㨍㨙㨜 㧩 㧜㧝㧞㧜
㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆
㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦
㨐㨍㨙㨜 㧩 㧜㧝㧞㧜
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜
㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀
