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(3) Caution
When changing the setting of parameter, once stop the operation.
- Under the following conditions, the function may not work normally, or the intended effect
may not be obtained.
Load
(4) How to use
[1] Setting of vibration suppression frequency
(1st: Servo parameter No.2B, 2nd: Servo parameter No.2D)
Measures vibration frequencies at the front end of equipment. When the front-end vibration can
be directly measured by a laser displacement meter, etc., read vibration frequencies [Hz] from its
measured waveform, and input them to the vibration suppression frequency (Servo parameter
No.2B, Servo parameter No.2D).
If there is no measurement equipment, however, read the frequency of residual vibrations from
the position deviation waveform as shown in the following drawing by using the waveform
graphic function of our setup support software, PANATERM.
[2] Setting of vibration suppression filter (1st: Servo parameter No.2C, 2nd: Servo parameter No.2E)
Set it to 0 first.
When larger values are used, the setting time can be shortened. However, torque ripples are
increased at the point of command change as indicated in the following drawing. Set it in the
actual conditions of use, but within the range where no torque saturation may occur. If torque
saturation occurs, the vibration suppression effect is damaged.
[3] Setting of vibration suppression filter switching selection (Servo parameter No.24)
Vibration filters can be switched according to an equipment vibration status.
Servo parameter
No.24
0, 1
A4P
Conditions that the effect of vibration suppression control is inhibited
・ W hen vibrations are raised due to causes other than a command (external force, etc.)
・ W hen the ratio between the resonance frequency and anti-resonance frequency is great.
・ W hen the resonance frequency is out of the range from 10.0 to 200.0 [Hz].
Command
speed
Vibration suppression
filter setting is optimum.
Torque command
No switching (Both are enabled)
Switching by command direction
2
CCW direction: 1st vibration suppression frequency
CW direction: 2nd vibration suppression frequency
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
Position deviation
Vibration frequency
is calculated
Vibration suppression
filter setting is too large
Torque saturation
Switching mode
- 113 -
No. SR-DSV09485
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