Omron SMARTSTEP 2 R88M-G Series User Manual page 295

 Operating Procedure
1. Setting the Vibration Frequency (Pn2B)
Measure the vibration frequency at the end of the machine. If the end vibration can be measured
directly using a laser displacement sensor, read the vibration frequency (Hz) from the measured
waveform and set it in the Vibration Frequency (Pn2B). If no measurement device is available, use
the CX-Drive waveform graphic function, and read the residual vibration frequency (Hz) from the
position deviation waveform as shown in the following figure. The set values from 0 to 99 are invalid.
Command
speed
Measure the distance between the residual peaks (t), and calculate the vibration frequency (Hz)
using the following formula.
f (Hz) =
2. Setting the Vibration Filter (Pn2C)
First, set the Vibration Filter Setting (Pn2C) to 0. The settling time can be reduced by setting a large
value, however, torque ripple will increase at the command change point as shown in the following
figure.
Set in a range that will not cause torque saturation under actual operation conditions. The effects of
vibration suppression will be lost if torque saturation occurs.
Pn2C is set appropriately
Torque command
Position deviation
Vibration frequency
calculation
t
1
t (s)
Pn2C is large
7-5 Manual Tuning
Torque saturation
7
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