Mitsubishi Electric MR-JE-_A Instruction Manual page 233

7. SPECIAL ADJUSTMENT FUNCTIONS
Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].
Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -
Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have
the following usable range and recommended range.
Vibration suppression
control
Vibration suppression
control 1
Vibration suppression
control 2
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
(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".
Usable range
[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])
[Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
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 -
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
1 Hz
Vibration suppression control 1 -
Resonance frequency
[Pr. PB19]
[Pr. PB20]
t
Vibration frequency
Resonance frequency
Set the same value.
7 - 12
Recommended setting range
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]
300 Hz
Resonance of more than
300 Hz is not the target of control.
External acceleration pickup signal, etc.
Vibration cycle [Hz]
t