YASKAWA SERVOPACK Sigma 7S Series Supplementary Manual

Contents

2.1 Anti-Resonance Control Adjustment2.1.2 Preparations2-32 Tuning2.1.2 PreparationsCheck the following settings before you execute anti-resonance control adjustment. The tuning-less function must be disabled (Pn170 = n.0). The test without a motor function must be disabled (Pn00C = n.0). The control method must not be set to torque control. The parameters must not be write prohibited.2.1.3 Applicable ToolsThe following table lists the tools that you can use to perform anti-resonance control adjust-ment and the applicable tool functions.2.1.4 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.For details, refer to the manual for your SERVOPACK.Tool Function Operating Procedure ReferencePanel Operator You cannot execute anti-resonance control adjustment from the Panel Operator.Digital Operator Fn204 Σ-7-Series Digital Operator Operating Man-ual (Manual No.: SIEP S800001 33)SigmaWin+ Tuning - Tuning 2.1.4 Operating Procedure on page 2-3CAUTION 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.