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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 55.5
edited by Karen
on 2023/05/16 11:31
Change comment: There is no comment for this version
To version 58.2
edited by Karen
on 2023/05/16 13:52
Change comment: There is no comment for this version

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... ... @@ -743,12 +743,65 @@
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" %)(((
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:150px" %)(((
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|(((
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
766 +
767 +**Vibration frequency detection:**
768 +
769 +* Users can measure vibration by measuring equipment such as laser displacement．
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 +* 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 +
773 +**Debugging method:**
774 +
775 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
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 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
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 +
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!
783 +
784 +== Type A vibration suppression ==
785 +
786 +Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
787 +
788 +(% style="text-align:center" %)
789 +(((
790 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
791 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]]
792 +)))
793 +
794 +
795 +|**Function code**|**Name**|(((
796 +**Setting**
797 +
798 +**method**
799 +)))|(((
800 +**Effective**
801 +
802 +**time**
803 +)))|**Default**|**Range**|**Definition**|**Unit**
804 +|P4-19|Enable the type A suppression function|(((
752 752  Operation
753 753  
754 754  setting
... ... @@ -756,8 +756,8 @@
756 756  Effective
757 757  
758 758  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|(((
812 +)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.|
813 +|P4-20|Type A suppression frequency|(((
761 761  Operation
762 762  
763 763  setting
... ... @@ -765,8 +765,8 @@
765 765  Effective
766 766  
767 767  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|(((
821 +)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ
822 +|P4-21|Type A suppression gain correction|(((
770 770  Operation
771 771  
772 772  setting
... ... @@ -774,30 +774,38 @@
774 774  Effective
775 775  
776 776  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
830 +)))|100|0 to 1000|Correct the load inertia ratio size.|0.01
831 +|P4-22|Type A suppression damping gain|(((
832 +Operation
778 778  
779 -**(1) Vibration frequency detection:**
834 +setting
835 +)))|(((
836 +Effective
780 780  
781 -* Users can measure vibration by measuring equipment such as laser displacement．
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 -* 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.
838 +immediately
839 +)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01
840 +|P4-23|Type A suppression phase correction|(((
841 +Operation
784 784  
785 -**(2) Debugging method:**
843 +setting
844 +)))|(((
845 +Effective
786 786  
787 -* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
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 -* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
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.
847 +immediately
848 +)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree
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!
850 +**Vibration frequency detection:**
794 794  
795 -== Type A vibration suppression ==
852 +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.
796 796  
797 -Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
854 +**Debugging method:**
798 798  
799 -(% style="text-align:center" %)
800 -(((
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"]]
803 -)))
856 +* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression,
857 +* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency.
858 +* 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)
859 +* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20.
860 +* 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.
861 +* 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.
862 +
863 +|[[image:image-20230516135116-1.png]]
864 +|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!
image-20230516135116-1.png
Author
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1 +XWiki.Karen
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1 +1.8 KB
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