User`s manual

Operating Procedures

3-36

3. Operating Procedures

3.5.3 Mechanical system diagnostic measurement procedure

Use the following procedure when measuring the resonance point of a robot connected

to the robot driver.

Note: The robot driver parameters are factory set to ensure that the robot operates

normally. Use of this function is not required except in cases where robot

operation is abnormal, or when adjusting the parameter data.

1. Set up as described below.

Before starting measurement, open the "Parameter setting" window and set the

parameters as shown in the following table.

Parameter name No. Setting Initial value

Moment of inertia

(Note 1)

Fd-00

Enter an approximate

value.

Motor-specific

value

Speed control cut-off

frequency

Fd-01 5 to 10 Hz 30 Hz

Torque command filter

time constant

Fd-06 0 ms 2 ms

Notch filter bandwidth 1 Fd-13 0 dB 0 dB

Notch filter bandwidth 2 Fd-15 0 dB 0 dB

Note 1: This parameter is named "Slider mass" when "Linear Motor" is selected.

2. Click the [Test run and Adjustment] button on the opening screen.

The "Test run and Adjustment" window then appears as shown below.

Click the [Machine diagnosis] tab.