Vibration Suppression Function (Fn205); Vibration Suppression Function - YASKAWA E-V Series User Manual

6.7

Vibration Suppression Function (Fn205)

The vibration suppression function is described in this section.

6.7.1 Vibration Suppression Function

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. 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 mass ratio (Pn103) using advanced autotuning before executing
this function. If the setting greatly differs from the actual mass ratio, normal control of the SERVOPACK
may not be possible, and vibration may result.
(1) Check Points for Settings
Before performing the vibration suppression function, check the following setting and take necessary mea-
sures.
• The control must be set to position control.
(2) Items Influencing Performance
The vibration suppression function cannot suppress vibration effectively under the following condition. If the
result is not satisfactory, perform anti-resonance control adjustment function (Fn204) or one-parameter tuning
(Fn203).
• Vibration is generated continuously when the motor is not rotating.
Perform one-parameter tuning (Fn203) to improve responsiveness after vibration suppression is performed.
(3) Detection of Vibration Frequencies
No frequency detection may be possible if the vibration does not appear as a position error or the vibration
resulting from the position error is too small.
The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width
(Pn560). Perform the detection of vibration frequencies after adjusting the remained vibration detection width
(Pn560).
Remained Vibration Detection Width
Pn560
Setting Range
Note: Use a set value of 10% as a guideline. The smaller the set value is, the higher the detection sensitivity will be. If the
value is too small, however, the vibration may not be detected accurately.
• Frequency detection will not be performed if there is no vibration resulting from posi-
tion errors or the vibration frequencies are outside the range of detectable frequen-
cies. If that occurs, use a device, such as a laser displacement sensor or vibration
meter, to measure the vibration.
• If vibration frequencies automatically detected are not suppressed, there may be a dif-
ference between the actual frequency and detected frequency. Fine-tune the detected
frequency if necessary.
Setting Unit
0.1 to 300 0.1%

6.7 Vibration Suppression Function (Fn205)

CAUTION
Position
Factory Setting When Enabled
40
Classification
Immediately Setup
6
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