YASKAWA SERVOPACK Sigma 7S Series Supplementary Manual

Contents

2.1 Anti-Resonance Control Adjustment2.1.1 Outline2-22.1 Anti-Resonance Control AdjustmentThis section describes anti-resonance control.This manual provides the following supplemental information in addition to the information pro-vided in the following product manuals: 2.1.6 Suppressing Different Vibration Frequencies withAnti-resonance Control on page 2-5. Σ-7S SERVOPACKs with Analog Voltage/Pulse Train References Σ-7S SERVOPACKs with MECHATROLINK-II Communications References Σ-7S SERVOPACKs with MECHATROLINK-III Communications References Σ-7W SERVOPACKs with MECHATROLINK-III Communications References2.1.1 OutlineAnti-resonance control increases the effectiveness of vibration suppression after custom tun-ing.Anti-resonance control is effective for suppression of continuous vibration frequencies from 100to 1,000 Hz that occur when the control gain is increased. Vibration can be eliminated by set-ting vibration frequencies through automatic detection or by manually setting them to adjustthe damping gain. Input an operation reference and execute this anti-resonance control adjust-ment when there is vibration.Anti-resonance control is automatically set by autotuning without a host reference or autotun-ing with a host reference. Use anti-resonance control adjustment only if fine-tuning is requiredor readjustment is required as a result of a failure to detect vibration.Perform custom tuning if required to increase the response after performing anti-resonancecontrol adjustment. If the control gain is increased, e.g., when custom tuning is performed,vibration may occur again. If that occurs, perform anti-resonance control adjustment again tofine-tune the parameters.CAUTION Related parameters will be set automatically when anti-resonance control adjustment isexecuted. This may greatly affect the response before and after execution. Make sure thatyou can perform an emergency stop at any time. Before you execute anti-resonance control adjustment, set the correct moment of inertiaratio (Pn103). If the setting greatly differs from the actual moment of inertia ratio, normalcontrol of the machine may not be possible, and vibration may occur. Anti-resonance control adjustment detects vibration frequencies between 100 Hz and 1,000Hz. If the vibration frequency is not within this range, use custom tuning with tuning mode 2selected to automatically set a notch filter or use vibration suppression. Vibration reduction can be made more effective by increasing the anti-resonance damping gain(Pn163), but the vibration may become larger if the damping gain is too high. Increase thedamping gain by approximately 0% to 200% in 10% increments while checking the effect onvibration. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, andlower the control gain by using a different method, such as custom tuning.Important