User`s manual

Operating Procedures
3
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3. Operating Procedures
3. Click the [Filter 1] button. The recommended settings then appear in the boxes to the
right of the button you clicked.
4. You can set up to 2 resonance frequencies. If there is another resonance point, repeat
from step 1 and make the setting with the [Filter 2] button.
Note: If two resonance points are close to each other, then robot operation might
become unstable even when the filters are set correctly. In this case, set the
resonance point that is clearer.
5. Click the [Writing] button. The settings for Fd 12 to Fd-15 are then transferred to the
robot driver.
6. Return the gain and other settings to their previous values, and then start operation to
check whether vibration is reduced. If vibration is not significantly reduced, slightly
change the "Notch filter frequency" parameters (Fd-12, Fd-14) to locate a point where
vibration is reduced. The notch filter function might work more effectively if you
adjust the "Notch filter bandwidth" parameters (Fd-13, Fd-15).
Note: Mechanical diagnostic measurements are to be used only as a guide.
The measured resonance frequency might deviate slightly from the correct
frequency.