Advanced Vibration Suppression Control Restrictions - Mitsubishi Electric MR-J5 User Manual

Advanced vibration suppression control restrictions

• This setting is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "2" (Auto tuning mode 2), "3" (Manual
mode), or "4" (2 gain adjustment mode 2).
• When using vibration suppression control 2, it is necessary to set [Pr. PA24.0 Vibration suppression mode selection] to "1"
(3 inertia mode).
• The value of [Pr. PB07 Model control gain], vibration frequency, and resonance frequency have the following usable range
and recommended range. Calculate these ranges using the formulas in the following two tables.
When calculating the setting value of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53]
by using [Pr. PB07]
This example shows a case where [Pr. PB19] < [Pr. PB52].
Vibration Usable range
suppression control
Vibration suppression [Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])
control 1 [Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])
Vibration suppression When [Pr. PB19] < [Pr. PB52]
control 2 [Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
When calculating the setting value of [Pr. PB07] by using [Pr. PB19], [Pr. PB20], [Pr.
PB52], and [Pr. PB53]
This example shows a case where [Pr. PB19] < [Pr. PB52].
Vibration Usable range
suppression control
Vibration suppression Range that meets all of the following conditions
control 1 [Pr. PB07] < 2π × [Pr. PB19]/0.9
[Pr. PB07] < 2π × [Pr. PB20]/0.9
Vibration suppression • When [Pr. PB19] < [Pr. PB52]
control 2 Range that meets all of the following conditions
[Pr. PB07] < ([Pr. PB52] – 5.0) × 10
[Pr. PB07] < ([Pr. PB53] – 5.0) × 10
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
• When [Pr. PB52] ≤ [Pr. PB19]
Range that meets all of the following conditions
[Pr. PB07] < ([Pr. PB19] – 5.0) × 10
[Pr. PB07] < ([Pr. PB20] – 5.0) × 10
1.1 < [Pr. PB19]/[Pr. PB52] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB52] + 1/8 × [Pr. PB19])
The calculation example is shown in the following table.
Vibration Servo parameter setting example
suppression control
No.
Vibration suppression [Pr. PB19]
control 1
[Pr. PB20]
Vibration suppression [Pr. PB19]
control 2
[Pr. PB20]
[Pr. PB52]
[Pr. PB53]
• If [Pr. PB25.0 Model adaptive control selection] is set to "2" (disabled (PID control)), the vibration suppression control
cannot be used.
Usable range
Value
20 [Pr. PB07] < 139.6
20
20 [Pr. PB07] < 61.26
20
30
30
Recommended setting range
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52]
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
Recommended setting range
Range that meets all of the following conditions
[Pr. PB07] < 2π × [Pr. PB19]/1.5
[Pr. PB07] < 2π × [Pr. PB20]/1.5
• When [Pr. PB19] < [Pr. PB52]
Range that meets all of the following conditions
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
• When [Pr. PB52] ≤ [Pr. PB19]
Range that meets all of the following conditions
[Pr. PB19], [Pr. PB20] > 6.25 Hz
1.1 < [Pr. PB19]/[Pr. PB52] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB52] + 2 × [Pr. PB19])
Recommended setting range
[Pr. PB07] < 83.7
[Pr. PB07] < 46.44
4 VIBRATION SUPPRESSION FUNCTION
4.7 Advanced vibration suppression control II
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