Vibration Suppression; Outline - YASKAWA SGD7S Product Manual

8.10 Vibration Suppression

8.10.1 Outline

8.10

Vibration Suppression

This section describes vibration suppression.

8.10.1 Outline

You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz
to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is
effective for vibration frequencies for which notch filters and anti-resonance control adjustment
are not effective.
Vibration suppression is automatically set by autotuning without a host reference or autotuning
with a host reference. Use vibration suppression only if fine-tuning is required or readjustment
is required as a result of a failure to detect vibration. To execute vibration suppression, input an
operation reference and execute the function when there is vibration.
Perform custom tuning if required to increase the response after performing vibration suppres-
sion.
Important
Items That Influence Performance
If continuous vibration occurs while the Servomotor is stopping, vibration suppression cannot
be used to suppress the vibration effectively. In this case, use anti-resonance control adjust-
ment or custom tuning.
Detection of Vibration Frequencies
Frequency detection may not be possible if vibration does not appear in the position deviation
or the vibration that results from the position deviation is too small. You can adjust the detec-
tion sensitivity by changing the setting of the residual vibration detection width (Pn560), which
is set as a percentage of the positioning completed width (Pn522). Perform the detection of
vibration frequencies again after adjusting the setting of Pn560.
Pn560
Note: As a guideline, change the setting 10% at a time. If the setting of this parameter is lowered, the detection
sensitivity will be increased. Vibration may not be detected accurately if the setting is too small.
8-56
 Related parameters will be set automatically when vibration suppression is executed. This
may greatly affect the response before and after execution. Make sure that you can perform
an emergency stop at any time.
 Before you execute vibration suppression, set the correct moment of inertia ratio (Pn103)
with autotuning without a host reference or another method. If the setting greatly differs
from the actual moment of inertia ratio, normal control of the machine may not be possible,
and vibration may occur.
 If you execute vibration suppression when you are using an MP3000-Series Controller for
phase control, correct phase control may not be possible.
• Vibration suppression detects vibration frequencies between 1 Hz and 100 Hz.
• Frequency detection will not be performed if there is no vibration in the position deviation or if
the vibration frequency is outside the range of detectable frequencies. If that is a problem, use
a device such as a displacement meter or vibration sensor to measure the vibration frequency.
• If an automatically detected vibration frequency is not suppressed, the actual frequency and
the detected frequency may be different. Fine-tune the detected frequency if necessary.
Residual Vibration Detection Width
Setting Range
1 to 3,000
CAUTION
Setting Unit Default Setting
0.1% 400
Position
When Enabled Classification
Immediately Setup