Mitsubishi Electric MR-J4W2-0303B6 Instruction Manual page 436

17. APPLICATION OF 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" in [Pr. PB02] or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2
tuning mode selection" in [Pr. PX03].
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. PX04])
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 produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, 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. PX04], and [Pr. PX05] 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 suppression control - Vibration
frequency
Vibration suppression control - Resonance
frequency
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. PX04],
[Pr. PX04] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PX05] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PX04]/[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. PX04])
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Vibration suppression
control 2
[Pr. PX04]
[Pr. PX05]
[Pr. PX06]
[Pr. PX07]
Recommended setting range
When [Pr. PB19] < [Pr. PX04],
[Pr. PX04], [Pr. PX05] > 6.25 Hz
1.1 < [Pr. PX04]/[Pr. PB19] < 4