YASKAWA UAK series User Manual page 237

9 Adjustments
9.5.1 Anti-Resonance Control Adjustment Function
Be sure to carefully read the SigmaWin for Σ-V-SD (MT) Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
This function will automatically set parameters when used. As a result, the response speeds may change considerably
after execution. Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
• The moment of inertia (mass) must be correctly set to execute this function.
If it is not correctly set, satisfactory anti-resonance control cannot be achieved.
• This function is generally only used to adjust the servo gain, as you should avoid considerable change in
the frequency.
If the frequency is changed while the anti-resonance control adjustment function is being used, the current anti-reso-
nance control effect will be lost. Care must be taken when automatic frequency detection is executed in Auto Detect
mode.
• If vibration cannot be suppressed by executing this function, cancel execution and reduce the servo gain
by other methods such as custom tuning.
• Use an adjustment method such as custom tuning to improve response characteristics after executing this
function.
When the servo gain is increased during an adjustment such as custom tuning, vibration may be gener-
ated. In this case, execute the anti-resonance control adjustment function again for fine adjustment.
The anti-resonance control adjustment function supports the adjustment of anti-resonance control effective for
vibration frequencies from 100 to 1,000 Hz when servo gain is increased. Vibration can be suppressed by set-
ting vibration frequency by auto detection or by manual setting to adjust damping gain. Input a reference and
execute this function when there is vibration.
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CAUTION