Instruction manual
7.
ADJUSTMENT
7.4.2
When the machine vibrates due
to
machine resonance frequency
(1)
Machine condition
The servo motor shaft is oscdlating at hgh frequency (100Hz
or
more).
The servo motor shaft motion cannot be cohed visually. However,
if
the machme generates large
noise and vibrates, make Adjustment
1.
If hgher "response setting" of auto tuning increases vibration, make Adjustment
2.
(2)
Adjustment procedure
Adjustment
1
1)
Perform auto tuning with the response setting of slow response.
2) Set 563Hz
or
375Hz
to
the mache resonance suppression
filter
(Parameter
No.
22).
3)Alternate a
start
and a stop several times, execute auto tuning, and check whether the machne
4) Decrease the machme resonance suppression filter value gradually and repeat step 3).
5)To further shorten the settlmg time, gradually increase the response setting
in
parameter
No. 2
Set 0101
in
parameter
No.
2.
does not vibrate.
The optimum value
is
provided at the point where vibration
is
minimum.
and repeat steps
1)
to
4).
Adjustment
2
1)
Choose the response setting of slow response.
Set
0101
in parameter
No.
2.
2)
Set the load inertia moment ratio (machne inertia moment ratio
in
parameter
No.
34).
If an exact mache inertia moment ratio
is
unknown, enter an approximate value.
When the value is set
in
ths parameter, the following parameters are set automatically. When
there
is
no machme resonance, the value of each parameter is set
to
the ideal gain
for
the
parameter
No.
34 value.
Parameter
NO.
I
Symbol
Name
No.
6
PG
1
I
Position
looD
gain
1
I
No.
35
Position loop gain
2
No.
36
Speed
loop
gain
1
No.
37
Speed
loop
gain
2
No.
38
Speed integral compensation
3) Set parameter
No.
2
to
UOU2
(auto
tuning
not executed).
4) Decrease the speed loop gain
2
(parameter
No.
37) to a value about
100
to
200
smaller than the
automatically set value.
The optimum value
is
provided at the point just before vibration increases.
5)
Set 563Hz
or
375Hz
to
the machine resonance suppression
filter
(Parameter
No.
22).
6)Alternate a start and a stop several times, execute auto tuning, and check whether the machme
does not vibrate.
7)
Decrease the machme resonance suppression
filter
value gradually and repeat step
6).
The optimum value
is
provided at the point where vibration is minimum.
8)
When there is no machine resonance, check the operating status and gradually increase the speed
loop gain
2
(parameter
No.
37) and repeat steps
5)
to
7).
Set the value about
50
to
100
smaller than the value
at
whch gear sound begins to be generated.
Make this gain a little
if
there
is
variation
in
the machme because a timing belt
or
the hke
is
used.
9)To further shorten the settling time, gradually increase the response setting of parameter
No.
2
and repeat steps
1)
to
8).
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