Hybrid Vibration Suppression Function - Omron R88M-K Series User Manual

6-15 Hybrid Vibration Suppression Function

6-15 Hybrid Vibration Suppression Function
Outline of Operation
This function suppresses the vibration that is caused by the amount of the torsion between the
motor and the load in the Fully-closed Control Mode. You can use this function to raise the gain
setting.
The hybrid vibration suppression function can be used in the following situations.
 Fully-closed Control Mode
 When Servo is ON
 When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Parameter
number
6
Pn634
Pn635
Operating Procedure
1. Set the Hybrid Vibration Suppression Gain (Pn634) to the same value as the position
loop gain.
2. Gradually increase the set value of the Hybrid Vibration Suppression Filter (Pn635)
while driving with fully-closed control and check the changes in the response.
If the response improves, find the combination of Pn634 and Pn635 that result in the optimal
response by adjusting them.
 This function is effective when the amount of torsion between the motor shaft and the load is large.
It may be less effective when the amount of torsion is small.
6-50
Parameter name
Hybrid Vibration
Suppression Gain
Hybrid Vibration
Suppression Filter
Precautions for Correct Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position
loop gain, and finely adjust it based on the
situation.
Set the hybrid vibration suppression filter.
Reference
P.8-66
P.8-66