Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 258

Vibration suppression control manual mode
• 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 ranges of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] vary depending on the value in [Pr.
PB07]. If a value out of the range is set, the vibration suppression control is disabled.
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.
Setting item
Vibration suppression control - Vibration frequency
Vibration suppression control - Resonance
frequency
Vibration suppression control - Vibration frequency
damping
Vibration suppression control - Resonance
frequency damping
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].
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
• When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment.
Gain characteristics
Vibration suppression control 1 -
Phase
-90 degrees
7 SPECIAL ADJUSTMENT FUNCTIONS
256
7.1 Filter setting
Vibration suppression control 1
[Pr. PB19]
[Pr. PB20]
[Pr. PB21]
[Pr. PB22]
Usable range
[Pr. PB19] > 1/2  (0.9  [Pr. PB07])
[Pr. PB20] > 1/2  (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
[Pr. PB07] < 2 (0.3  [Pr. PB19] + 1/8  [Pr. PB52])
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
1 Hz
Vibration frequency
Vibration suppression control 1 -
(anti-resonance frequency)
[Pr. PB19]
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]
300 Hz
Resonance of more than
300 Hz is not the target of control.
Resonance frequency
[Pr. PB20]
Vibration suppression control 2
[Pr. PB52]
[Pr. PB53]
[Pr. PB54]
[Pr. PB55]
Recommended setting range
[Pr. PB19] > 1/2  (1.5  [Pr. PB07])
[Pr. PB20] > 1/2  (1.5  [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3  (4  [Pr. PB19] + 2  [Pr. PB52])