Mitsubishi Electric MR-J4 Instruction Manual page 540

17. APPLICATION OF FUNCTIONS
a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or
external equipment.
b) When vibration can be confirmed using monitor signal or external sensor
Vibration cycle [Hz]
Step 3. Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".
(6) Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can
use a control command from a controller to switch gains during operation.
(a) Use
The following shows when you use the function.
1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during
rotation.
2) You want to increase the gains during settling to shorten the stop settling time.
3) You want to change the gains using a control command from a controller to ensure stability of the
servo system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is
mounted on a carrier).
Gain characteristics
Vibration suppression control 1 -
Vibration frequency
(anti-resonance frequency)
Phase
-90 degrees
Motor-side vibration
(droop pulses)
Position command frequency
Vibration suppression control -
Vibration suppression control -
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PX04]
1 Hz
Vibration suppression control 1 -
Resonance frequency
[Pr. PB19]
[Pr. PB20]
t
Vibration frequency
Resonance frequency
Set the same value.
17 - 39
Vibration suppression control 2 -
Resonance frequency
[Pr. PX05]
300 Hz
Resonance of more than
300 Hz is not the target of control.
External acceleration pickup signal, etc.
Vibration cycle [Hz]
t