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PA1_77 to 86 Vibration suppressing control settings
No.
Name
Automatic vibration suppressing selection
77
Vibration suppressing anti resonance frequency 0 1 [Hz] to 300.0 [Hz]
78
Vibration suppressing workpiece inertia ratio
79
(vibration suppressing resonance frequency) 0
Vibration suppressing anti resonance frequency 1 1 [Hz] to 300.0 [Hz]
80
Vibration suppressing workpiece inertia ratio
81
(vibration suppressing resonance frequency) 1
Vibration suppressing anti resonance frequency 2 1 [Hz] to 300.0 [Hz]
82
Vibration suppressing workpiece inertia ratio
83
(vibration suppressing resonance frequency) 2
Vibration suppressing anti resonance frequency 3 1 [Hz] to 300.0 [Hz]
84
Vibration suppressing workpiece inertia ratio
85
(vibration suppressing resonance frequency) 3
Vibration suppressing damping coefficient
86
These parameters are enabled only under position control.
Use these parameters to specify the anti resonance frequency to suppress workpiece vibration
(vibration control).
Set at 300.0 [Hz] (factory shipment setting) to disable vibration suppressing control function.
Set PA1_77 (automatic vibration suppressing control selection) at 1 (enable) to repeat starting and
stopping the motor multiple times while automatically detecting the anti resonance frequency of the
machine and adjusting PA1_78 (vibration suppressing anti resonance frequency 0) to the best value.
To use this function, always reserve 1.5s or longer stopping time.
Use vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 0 to
enter the ratio of a vibrating inertial body such as the arm to the inertia of the entire system.
The enabled parameter is selected through the CONT input signal as shown in the table below.
Anti resonance
Anti resonance
frequency 1
frequency 0
OFF
OFF
OFF
ON
ON
OFF
ON
ON
By setting PA1_77 (Automatic vibration suppressing selection) to "3: 2 point simultaneous setting", two
anti resonance frequencies can be applied simultaneously.
The anti resonance frequencies that become enabled when this function is used are fixed at PA1_78
(Vibration suppressing anti resonance frequency 0) and PA1_80 (Vibration suppressing anti resonance
frequency 1), and the vibration suppressing anti resonance frequency selected with CONT input signal
becomes disabled.
0: Disable
2: IQ area
3: 2 point simultaneous setting
(in increments of 1)
0 [%] to 80 [%] (in increments of 1)
(in increments of 1)
0 [%] to 80 [%](in increments of 1)
(in increments of 1)
0 [%] to 80 [%]
(in increments of 1)
(in increments of 1)
0 [%] to 80 [%] (in increments of 1)
0.0000 to 0.1000
Enabled vibration suppressing
anti resonance frequency
PA1_78
PA1_80
PA1_82
PA1_84
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Default
Setting range
1: Enable
0.0000 Always
Enabled vibration suppressing
workpiece inertia ratio
PA1_79
PA1_81
PA1_83
PA1_85
Change
value
0
Always
300.0
Always
0
Always
300.0
Always
4
0
Always
300.0
Always
0
Always
300.0
Always
0
Always
4-35
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