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7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (DRU parameter No.60).
DRU parameter No. 60
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (DRU parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected to generate
the filter in response to resonance, suppressing machine vibration.
2: Held
Adaptive vibration suppression control sensitivity selection
Select the sensitivity at which machine resonance is detected.
0: Normal
1: Large sensitivity
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
POINT
Adaptive vibration suppression control is factory-set to be invalid (DRU
parameter No. 60: 0000).
The filter characteristics generated are saved in the EEP-ROM every 60
minutes since power-on. At next power-on, vibration suppression control is
performed with this data saved in the EEP-ROM being used as an initial
value.
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting of "large sensitivity"
detects smaller machine resonance and generates a filter to suppress
machine vibration. However, since a phase delay will also increase, the
response of the servo system may not increase.
7.4 Low-pass filter
(1) Function
When a ballscrew or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression:
Filter frequency(Hz)
(1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)
2
Speed control gain 2 setting 10
(2) Parameter
Set the operation of the low-pass filter (DRU parameter No. 60.)
DRU parameter No. 60
Low-pass filter selection
0: Valid (automatic adjustment) initial value
1: Invalid
POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.