Adaptive Vibration Suppression Control - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

8. SPECIAL ADJUSTMENT FUNCTIONS
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(b) Machine resonance suppression filter 2 (parameter No.59)
The setting method of machine resonance suppression filter 2 (parameter No.59) is the same as that of
machine resonance suppression filter 1 (parameter No.58). However, the machine resonance
suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid
or invalid.

8.3 Adaptive vibration suppression control

(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance
and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter
characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance
frequency of a mechanical system. Also, while adaptive vibration suppression control is valid, the servo
amplifier always detects machine resonance, and if the resonance frequency changes, it changes the filter
characteristics in response to that frequency.
Mechanical
system
response
level
When machine resonance is large and frequency is low
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This allows the
required notch frequency and depth to be determined.
Resonance may occur if parameter No.58 59 is used to select a close notch
frequency and set a deep notch.
Machine resonance point
Notch
depth
Notch frequency
POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration suppression
control has no effect on the resonance frequency outside this range. Use the
machine resonance suppression filter for the machine resonance of such
frequency.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics or which has too large
resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive vibration
suppression control to be "held" (parameter No.60:
characteristics of the adaptive vibration suppression control filter.
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
When machine resonance is small and frequency is high
8 - 3
Machine resonance point
Frequency
Frequency
Notch frequency
2 ) to fix the