YASKAWA UAK series User Manual

Contents

YASKAWA UAK series User Manual Manual pdf 236 page image

9.5 Anti-Resonance Control Adjustment Function9-35 Adjustments99.5 Anti-Resonance Control Adjustment FunctionThis section describes the anti-resonance control adjustment function.9.5.1 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 1,000 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 or use another method to increase the responsiveness after performing thisfunction. If the anti-resonance gain is increased with one-parameter tuning performed, vibration may result. Ifthat occurs, perform this function again to fine-tune the settings.(1) PreparationCheck the following settings before performing anti-resonance control adjustment function.The message “NO-OP” indicating that the settings are not appropriate will be displayed, if the following con-dition is not met.• The write prohibited setting must not be set to write-protect parameters.(2) Anti-Resonance Control Adjustment Function Operating ProcedureWith this function, an operation reference is sent, and the function is executed while vibration is occurring.Anti-resonance control adjustment function is performed from the SigmaWin for Σ-V-SD (MT).The following methods can be used for the anti-resonance control adjustment function.• With Undetermined Vibration Frequency• With Determined Vibration FrequencyThe operating procedure from the SigmaWin for Σ-V-SD (MT) is described here.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) before executing the anti-resonancecontrol adjustment function. If the setting greatly differs from the actual moment of inertia ratio, normalcontrol of the machine may not be possible, and vibration may result.• This function detects vibration between 100 and 1,000 Hz. Vibration will not bedetected for frequencies outside of this range, and instead, “F----” will be displayed.• 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.