YASKAWA E-S Series Product Manual

Contents

8.6 Anti-Resonance Control Adjustment8.6.3 Operating Procedure8-258 Tuning8.6.3 Operating ProcedureTo execute anti-resonance control adjustment, an operation reference is input, and the adjust-ment is executed while vibration is occurring.The following methods can be used to execute anti-resonance control adjustment.• To automatically detect the vibration frequency• To manually set the vibration frequencyUse the following procedure.1. Perform steps 1 to 7 of the procedure for custom tuning. Refer to the following sectionfor details.8.5.3 Operating Procedure on page 8-162. Click the Anti-res Ctrl Adj Button.The rest of the procedure depends on whether you know the vibration frequency.CAUTION Before you execute anti-resonance control adjustment, check the information provided inthe SigmaWin+ operating manual.Observe the following precautions.• Make sure that you can perform an emergency stop at any time.Parameters will be set automatically when anti-resonance control adjustment is executed. Thismay greatly affect the response before and after execution. Make sure that you can perform anemergency stop (to turn OFF the power supply) at any time.• Set the moment of inertia correctly before you execute anti-resonance control adjustment.If the setting greatly differs from the actual moment of inertia, effective vibration reduction maynot be possible.• If you have already performed anti-resonance control adjustment and then you change the fre-quency, the current anti-resonance control effect may be lost. Caution is particularly requiredwhen automatically detecting the vibration frequency.• If effective vibration reduction is not achieved even after you execute anti-resonance controladjustment, cancel the function and lower the control gain by using a different method, such ascustom tuning.• Perform custom tuning separately if required to increase the response after performing anti-reso-nance control adjustment.If the servo gain is increased, e.g., when custom tuning is performed, vibration may occur again.If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.