YASKAWA SGD7S Product Manual page 321

Required Parameter Settings
The following parameter settings are required to use anti-resonance control for more than one
vibration frequency.
Parameter

n. 0
(default setting)
Pn160

n. 1
Anti-Resonance Frequency
Pn161 Setting Range
10 to 20,000
Anti-Resonance Gain Correction
Pn162 Setting Range
1 to 1,000
Anti-Resonance Damping Gain
Pn163 Setting Range
0 to 300
Anti-Resonance Filter Time Constant 1 Correction
Pn164 Setting Range
-1,000 to 1,000
Anti-Resonance Filter Time Constant 2 Correction
Pn165 Setting Range
-1,000 to 1,000
Anti-Resonance Damping Gain 2
Pn166 Setting Range
0 to 1,000
Adjustment Procedure for Suppressing Different Vibration
Frequencies with Anti-resonance Control
Use the following procedure to make adjustments to suppress different vibration frequencies
with anti-resonance control.
Step
Use the gain adjustment and anti-resonance control.
1 Refer to the following section for details.
8.9.4 Operating Procedure on page 8-52
If there is vibration at a higher frequency than the vibration suppressed with anti-resonance
2
control in step 1, adjust Pn166 (Anti-Resonance Damping Gain 2).
Adjust Pn166 (Anti-Resonance Damping Gain 2) while checking to see if vibration reduction is
effective.
3 To adjust Pn166 (Anti-Resonance Damping Gain 2), increase the setting by 10% at a time start-
ing from the value that resulted in Pn163 (Anti-Resonance Damping Gain) from the adjustment
in step 1.
If the vibration disappears, the adjustment is completed.
4 However, if the vibration does not disappear even when you adjust Pn166 (Anti-Resonance
Damping Gain 2), reduce the tuning level or feedback level until vibration does not occur.
8.9.6 Suppressing Different Vibration Frequencies with Anti-resonance Control
Description
Do not use anti-resonance control.
Use anti-resonance control.
Setting Unit Default Setting
0.1 Hz
Setting Unit Default Setting
1%
Setting Unit Default Setting
1%
Setting Unit Default Setting
0.01 ms
Setting Unit Default Setting
0.01 ms
Setting Unit Default Setting
1%
Operation
8.9 Anti-Resonance Control Adjustment
Speed
When Enabled
1000 Immediately
Speed
When Enabled
100 Immediately
Speed
When Enabled
0 Immediately
Speed
When Enabled
0 Immediately
Speed
When Enabled
0 Immediately
Speed
When Enabled
0 Immediately
When Classifi-
Enabled cation
After
Setup
restart
Position Torque
Classification
Tuning
Position Torque
Classification
Tuning
Position Torque
Classification
Tuning
Position Torque
Classification
Tuning
Position Torque
Classification
Tuning
Position Torque
Classification
Tuning
8-55
8