Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -743,46 +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: 250px;" %)**Name**|=(% style="text-align:center; vertical-align:middle; width:180px" %)(((747 -**Setting method** 748 -)))|=(% style="text-align:center; vertical-align:middle; width:15 0px" %)(((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 +**Setting method** 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: 110px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 400px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 751 -|P4-11|Enable low-frequency vibration suppression function|((( 752 -Operation 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 +|=(% 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 +Operation setting 753 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 754 +Effective immediately 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 +|=(% 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 +Operation setting 758 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 759 +Effective immediately 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" %)((( 762 +Operation setting 763 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 764 +Effective immediately 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" %)0.001 753 753 754 -setting 755 -)))|((( 756 -Effective 767 +**Vibration frequency detection:** 757 757 758 -immediately 759 -)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.| 760 -|P4-12|Low-frequency vibration suppression frequency|((( 761 -Operation 762 - 763 -setting 764 -)))|((( 765 -Effective 766 - 767 -immediately 768 -)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ 769 -|P4-14|Shutdown vibration detection amplitude|((( 770 -Operation 771 - 772 -setting 773 -)))|((( 774 -Effective 775 - 776 -immediately 777 -)))|100|0 to 1000|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.|0.001 778 - 779 -**(1) Vibration frequency detection:** 780 - 781 781 * Users can measure vibration by measuring equipment such as laser displacement． 782 782 * 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. 783 783 * 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. 784 784 785 -** (2)Debugging method:**773 +**Debugging method:** 786 786 787 787 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency. 788 788 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16. ... ... @@ -789,8 +789,9 @@ 789 789 * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11. 790 790 * 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. 791 791 792 -|[[image:image-20230516105941-2.png]] 793 -|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! 794 794 795 795 == Type A vibration suppression == 796 796 ... ... @@ -799,5 +799,52 @@ 799 799 (% style="text-align:center" %) 800 800 ((( 801 801 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 802 -[[**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]] 803 803 ))) 793 + 794 +|=(% 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: 115px;" %)((( 795 +**Setting method** 796 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)((( 797 +**Effective time** 798 +)))|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 250px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 799 +|P4-19|Enable the type A suppression function|((( 800 +Operation setting 801 +)))|((( 802 +Effective immediately 803 +)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.| 804 +|P4-20|Type A suppression frequency|((( 805 +Operation setting 806 +)))|((( 807 +Effective immediately 808 +)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ 809 +|P4-21|Type A suppression gain correction|((( 810 +Operation setting 811 +)))|((( 812 +Effective immediately 813 +)))|100|0 to 1000|Correct the load inertia ratio size.|0.01 814 +|P4-22|Type A suppression damping gain|((( 815 +Operation setting 816 +)))|((( 817 +Effective immediately 818 +)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01 819 +|P4-23|Type A suppression phase correction|((( 820 +Operation setting 821 +)))|((( 822 +Effective immediately 823 +)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree 824 + 825 +**Vibration frequency detection:** 826 + 827 +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. 828 + 829 +**Debugging method:** 830 + 831 +* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression, 832 +* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency. 833 +* 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) 834 +* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20. 835 +* 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. 836 +* 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. 837 + 838 +|[[image:image-20230516135116-1.png]] 839 +|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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