YASKAWA SERVOPACK Sigma 7S Series Supplementary Manual

Contents

2.1 Anti-Resonance Control Adjustment2.1.6 Suppressing Different Vibration Frequencies with Anti-resonance Control2-6Required Parameter SettingsThe following parameter settings are required to use anti-resonance control for more than onevibration frequency.Adjustment Procedure for Suppressing Different VibrationFrequencies with Anti-resonance ControlUse the following procedure to make adjustments to suppress different vibration frequencieswith anti-resonance control.Parameter Description WhenEnabledClassifi-cationPn160n.0(default setting) Do not use anti-resonance control. Afterrestart Setupn.1 Use anti-resonance control.Pn161Anti-Resonance FrequencySetting Range Setting Unit Default Setting When Enabled Classification10 to 20,000 0.1 Hz 1000 Immediately TuningPn162Anti-Resonance Gain CorrectionSetting Range Setting Unit Default Setting When Enabled Classification1 to 1,000 1% 100 Immediately TuningPn163Anti-Resonance Damping GainSetting Range Setting Unit Default Setting When Enabled Classification0 to 300 1% 0 Immediately TuningPn164Anti-Resonance Filter Time Constant 1 CorrectionSetting Range Setting Unit Default Setting When Enabled Classification-1,000 to 1,000 0.01 ms 0 Immediately TuningPn165Anti-Resonance Filter Time Constant 2 CorrectionSetting Range Setting Unit Default Setting When Enabled Classification-1,000 to 1,000 0.01 ms 0 Immediately TuningPn166Anti-Resonance Damping Gain 2Setting Range Setting Unit Default Setting When Enabled Classification0 to 1,000 1% 0 Immediately TuningStep Operation1 Adjust the gain and anti-resonance control with the procedure on page 2-3.2 If there is vibration at a higher frequency than the vibration suppressed with anti-resonancecontrol in step 1, adjust Pn166 (Anti-Resonance Damping Gain 2).3Adjust Pn166 (Anti-Resonance Damping Gain 2) while checking to see if vibration reduction iseffective.To adjust Pn166 (Anti-Resonance Damping Gain 2), increase the setting by 10% at a time start-ing from the value that resulted in Pn163 (Anti-Resonance Damping Gain) from the adjustmentin step 1.4If the vibration disappears, the adjustment is completed.However, if the vibration does not disappear even when you adjust Pn166 (Anti-ResonanceDamping Gain 2), reduce the tuning level or feedback level until vibration does not occur.Speed Position TorqueSpeed Position TorqueSpeed Position TorqueSpeed Position TorqueSpeed Position TorqueSpeed Position Torque