Anti-Resonance Control Adjustment Function (Fn204); Anti-Resonance Control Adjustment Function - YASKAWA Σ-V Series User Manual

5.6

Anti-resonance Control Adjustment Function (Fn204)

This section describes how to adjust the anti-resonance control.

5.6.1 Anti-resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after
one-parameter tuning.
The anti-resonance control adjustment function (Pn204) is an effective way to control the frequent vibration
between 100 Hz and 1000 Hz when the control gain increases.
Perform one-parameter tuning (Fn203) or use another method to increase the responsiveness after performing
this function. If the vibration gain is increased with one-parameter tuning performed, vibration may result
again. 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 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 the
anti-resonance control adjustment 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) Before Performing Anti-Resonance Control Adjustment Function
Check the following settings before performing anti-resonance control adjustment function.
a) A message (NO-OP) indicating that no operations are possible will be displayed, if all of the following
conditions are not met.
• The tuning-less function must not be enabled.
• Test without motor function must not be enabled. (Pn00C.0=0)
• Force control must not be selected.
b) Observe the following condition to ensure operation.
• The write prohibited setting (Fn010) must not be set.
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. If
that occurs, use one-parameter tuning with tuning mode 2 selected to automatically
set a notch filter or use the vibration suppression function (Fn205).
• Vibration can be reduced more effectively by increasing the present damping gain
(Pn163). The amplitude of vibration may become larger if the damping gain is exces-
sively high. Increase the vibration gain from about 0% to 200% in 10% increments
while checking the effect of vibration reduction. If the effect of vibration reduction 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.

5.6 Anti-resonance Control Adjustment Function (Fn204)

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