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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 56.2
edited by Karen
on 2023/05/16 13:41
Change comment: There is no comment for this version
To version 58.3
edited by Karen
on 2023/05/16 13:54
Change comment: There is no comment for this version

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... ... @@ -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!
image-20230516135116-1.png
Author
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1 +XWiki.Karen
Size
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1 +1.8 KB
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