Mitsubishi MR-JE-10B Instruction Manual page 173

7. SPECIAL ADJUSTMENT FUNCTIONS
(4) Vibration suppression control manual mode
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
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 frequency for vibration suppression control" and "Resonance frequency for
vibration suppression control" 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])
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not provide an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external measuring instrument, do not set the
same value but set different values to improve the vibration suppression
performance.
The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies,
depending on the value in [Pr. PB07]. If a value out of the range is set, the
vibration suppression control will be disabled.
Setting item
Vibration frequency for vibration suppression
control
Resonance frequency for vibration
suppression control
Vibration suppression control - Vibration
frequency damping
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
Vibration suppression
control 1
[Pr. PB19]
[Pr. PB20]
[Pr. PB21]
[Pr. PB22]
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
7 - 10
Vibration suppression
control 2
[Pr. PB52]
[Pr. PB53]
[Pr. PB54]
[Pr. PB55]
Recommended setting range
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4