Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -743,34 +743,34 @@ 743 743 [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]] 744 744 ))) 745 745 746 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 294px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((746 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)((( 747 747 **Setting method** 748 -)))|=(% style="text-align: center; vertical-align: middle; width: 15 6px;" %)(((748 +)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)((( 749 749 **Effective time** 750 -)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 1 26px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width:448px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit** 751 751 |=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style="width:294px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 752 752 Operation setting 753 753 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 754 754 Effective immediately 755 -)))|(% style="text-align:center; vertical-align:middle 755 +)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1|(% style="width:448px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:96px" %) 756 756 |=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style="width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 757 757 Operation setting 758 758 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 759 759 Effective immediately 760 760 )))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.1HZ 761 -|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle;width:137px" %)((( 761 +|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 762 762 Operation setting 763 763 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 764 764 Effective immediately 765 765 )))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1000|(% style="width:448px" %)When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.001 766 766 767 -** (1)Vibration frequency detection:**767 +**Vibration frequency detection:** 768 768 769 769 * Users can measure vibration by measuring equipment such as laser displacement． 770 770 * If no measuring equipment, the user can also read the position deviation waveform to confirm the vibration frequency through the "waveform" function of the PC debugging software. 771 771 * Low-frequency vibration detection needs to be coordinated by the two parameters of completion positioning threshold and vibration detection amplitude. When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to U0-16 monitoring quantity. For example, when the vibration amplitude is greater than (P5-12*P4-14*0.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12*P4-14*0.001=800*50*0.001=40 pulses, stop vibration frequency can be identified in U0-16. 772 772 773 -** (2)Debugging method:**773 +**Debugging method:** 774 774 775 775 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency. 776 776 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16. ... ... @@ -777,8 +777,9 @@ 777 777 * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11. 778 778 * Run again to observe the speed waveform and determine whether to eliminate the vibration. If the vibration is not eliminated, please manually modify the vibration frequency and try again. 779 779 780 -|[[image:image-20230516105941-2.png]] 781 -|Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down! 780 +(% class="table-bordered" style="margin-right:auto" %) 781 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]] 782 +|(% style="text-align:left; vertical-align:middle" %)Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down! 782 782 783 783 == Type A vibration suppression == 784 784 ... ... @@ -787,5 +787,73 @@ 787 787 (% style="text-align:center" %) 788 788 ((( 789 789 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 790 -[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png ||id="20230516-0714.png"]]791 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]] 791 791 ))) 793 + 794 + 795 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)((( 796 +**Setting method** 797 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 798 +**Effective time** 799 +)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 800 +|P4-19|Enable the type A suppression function|((( 801 +Operation 802 + 803 +setting 804 +)))|((( 805 +Effective 806 + 807 +immediately 808 +)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.| 809 +|P4-20|Type A suppression frequency|((( 810 +Operation 811 + 812 +setting 813 +)))|((( 814 +Effective 815 + 816 +immediately 817 +)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ 818 +|P4-21|Type A suppression gain correction|((( 819 +Operation 820 + 821 +setting 822 +)))|((( 823 +Effective 824 + 825 +immediately 826 +)))|100|0 to 1000|Correct the load inertia ratio size.|0.01 827 +|P4-22|Type A suppression damping gain|((( 828 +Operation 829 + 830 +setting 831 +)))|((( 832 +Effective 833 + 834 +immediately 835 +)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01 836 +|P4-23|Type A suppression phase correction|((( 837 +Operation 838 + 839 +setting 840 +)))|((( 841 +Effective 842 + 843 +immediately 844 +)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree 845 + 846 +**Vibration frequency detection:** 847 + 848 +The vibration frequency can directly obtain the value of the current vibration frequency from the software oscilloscope vibration frequency, combined with real-time speed waveform to observe the current vibration situation. 849 + 850 +**Debugging method:** 851 + 852 +* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression, 853 +* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency. 854 +* Set P4-20 vibration frequency and enable type A vibration suppression function P4-19. ( Type A vibration frequency takes effect when P4-19 is set to 1 for the first time. If change A-type vibration frequency P4-20, please set P4-19 to 0 again, then set to 1) 855 +* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20. 856 +* Observe the size of the vibration speed component, if the amplitude speed component is getting larger, it can be the vibration frequency setting error, if the vibration speed component is getting smaller, it means the vibration is gradually suppressed. 857 +* When the vibration is suppressed, there is still a small part of the vibration speed component, users can fine-tune the P4-23 phase correction, the recommended value of 150~~300. 858 + 859 +|[[image:image-20230516135116-1.png]] 860 +|Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
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