Anti-Resonance Control Adjustment Function - YASKAWA UAK series User Manual

9.5

Anti-Resonance Control Adjustment Function

This section describes the anti-resonance control adjustment function.

9.5.1 Anti-Resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after
one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra-
tion frequencies are from 100 to 1,000 Hz.
This function rarely needs to be used because it is automatically set by the advanced autotuning or advanced
autotuning by reference input. Use this function only if fine-tuning is required, or vibration detection is failed
and readjustment is required.
Perform one-parameter tuning or use another method to increase the responsiveness after performing this
function. If the anti-resonance gain is increased with one-parameter tuning performed, vibration may result. If
that occurs, perform this function again to fine-tune the settings.
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is executed. Enable the function in a state where the machine can
come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) before executing the anti-resonance
control adjustment function. If the setting greatly differs from the actual moment of inertia ratio, normal
control of the machine may not be possible, and vibration may result.
(1) Preparation
Check the following settings before performing anti-resonance control adjustment function.
The message "NO-OP" indicating that the settings are not appropriate will be displayed, if the following con-
dition is not met.
• The write prohibited setting must not be set to write-protect parameters.
(2) Anti-Resonance Control Adjustment Function Operating Procedure
With this function, an operation reference is sent, and the function is executed while vibration is occurring.
Anti-resonance control adjustment function is performed from the SigmaWin for Σ-V-SD (MT).
The following methods can be used for the anti-resonance control adjustment function.
• With Undetermined Vibration Frequency
• With Determined Vibration Frequency
The operating procedure from the SigmaWin for Σ-V-SD (MT) is described here.
CAUTION
• This function detects vibration between 100 and 1,000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed.
• Vibration can be reduced more effectively by increasing the anti-resonance damping
gain (Pn163). The amplitude of vibration may become larger if the damping gain is
excessively high. Increase the damping gain from about 0% to 200% in 10% incre-
ments while checking the effect of vibration reduction. If the effect of vibration reduc-
tion is still insufficient at a gain of 200%, cancel the setting, and lower the control gain
using a different method, such as one-parameter tuning.
9.5 Anti-Resonance Control Adjustment Function
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