6 Adjustments6.6.1 Anti-Resonance Control Adjustment Function6-426.6 Anti-Resonance Control Adjustment Function (Fn204)This section describes the anti-resonance control adjustment function.6.6.1 Anti-Resonance Control Adjustment FunctionThe anti-resonance control adjustment function increases the effectiveness of the vibration suppression afterone-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra-tion frequencies are from 100 to 1000 Hz.This function rarely needs to be used because it is automatically set by the advanced autotuning or advancedautotuning by reference input. Use this function only if fine-tuning is required, or vibration detection is failedand readjustment is required.Perform one-parameter tuning (Fn203) or use another method to improve the response characteristics afterperforming this function. If the anti-resonance gain is increased with one-parameter tuning performed, vibra-tion may result again. If that occurs, perform this function again to fine-tune the settings. Before Performing Anti-Resonance Control Adjustment FunctionThe following conditions must be met to perform anti-resonance control adjustment function.The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the followingconditions are not met.• The tuning-less function must be disabled (Pn170.0 = 0).• The test without a motor function must be disabled (Pn00C.0 = 0).• The control must not be set to torque control.• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).CAUTION• If this function is executed, related parameters will be set automatically. Therefore, there will be a largeresponse change after this function is executed. Enable the function in a state where the machine cancome to an emergency stop at any time to ensure the safety operation of the machine.• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning beforeexecuting the anti-resonance control adjustment function. If the setting greatly differs from the actualmoment of inertia ratio, normal control of the machine may not be possible, and vibration may result.• This function detects vibration between 100 and 1000 Hz. Vibration will not bedetected for frequencies outside of this range, and instead, "F----" will be displayed. Ifthat occurs, use one-parameter tuning with tuning mode 2 selected to automaticallyset a notch filter or use the vibration suppression function (Fn205).• Vibration can be reduced more effectively by increasing the anti-resonance dampinggain (Pn163). The amplitude of vibration may become larger if the damping gain isexcessively high. Increase the damping gain from about 0% to 200% in 10% incre-ments while checking the effect of vibration reduction. If the effect of vibration reduc-tion is still insufficient at a gain of 200%, cancel the setting, and lower the control gainusing a different method, such as one-parameter tuning.
