Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -731,6 +731,7 @@ 731 731 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 732 732 733 733 Table 7-11 Notch filter function code parameters 734 +~)~)~) 734 734 735 735 == Low frequency vibration suppression == 736 736 ... ... @@ -742,34 +742,34 @@ 742 742 [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]] 743 743 ))) 744 744 745 -|=(% 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;" %)(((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;" %)((( 746 746 **Setting method** 747 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 15px;" %)(((748 +)))|=(% style="text-align: center; vertical-align: middle; width: 156px;" %)((( 748 748 **Effective time** 749 -)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 1 00px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width:120px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**750 -|=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style=" text-align:center; vertical-align:middle;width:294px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)(((750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 126px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 448px;" %)**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" %)((( 751 751 Operation setting 752 752 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 753 753 Effective immediately 754 -)))|(% 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" %) 755 -|=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style=" text-align:center; vertical-align:middle;width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)(((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" %)((( 756 756 Operation setting 757 757 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 758 758 Effective immediately 759 759 )))|(% 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 760 -|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style=" text-align:center; vertical-align:middle;width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle;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" %)((( 761 761 Operation setting 762 762 )))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 763 763 Effective immediately 764 764 )))|(% 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" %)0.001 765 765 766 -**Vibration frequency detection:** 767 +**(1) Vibration frequency detection:** 767 767 768 768 * Users can measure vibration by measuring equipment such as laser displacement． 769 769 * 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. 770 770 * 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. 771 771 772 -**Debugging method:** 773 +**(2) Debugging method:** 773 773 774 774 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency. 775 775 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16. ... ... @@ -776,9 +776,8 @@ 776 776 * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11. 777 777 * 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. 778 778 779 -(% class="table-bordered" style="margin-right:auto" %) 780 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]] 781 -|(% 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! 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! 782 782 783 783 == Type A vibration suppression == 784 784 ... ... @@ -787,53 +787,5 @@ 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]] 790 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]] 791 791 ))) 792 - 793 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 241px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)((( 794 -**Setting method** 795 -)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)((( 796 -**Effective time** 797 -)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 183px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 501px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px" %)**Unit** 798 -|=(% style="text-align: center; vertical-align: middle" %)P4-19|(% style="text-align:center; vertical-align:middle; width:241px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 799 -Operation setting 800 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 801 -Effective immediately 802 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1|(% style="width:501px" %)When the function code is set to 1, enable the type A suppression function.| 803 -|=(% style="text-align: center; vertical-align: middle" %)P4-20|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 804 -Operation setting 805 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 806 -Effective immediately 807 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:183px" %)100 to 20000|(% style="width:501px" %)Set the frequency of Type A suppression.|(% style="text-align:center; vertical-align:middle" %)0.1HZ 808 -|=(% style="text-align: center; vertical-align: middle" %)P4-21|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 809 -Operation setting 810 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 811 -Effective immediately 812 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1000|(% style="width:501px" %)Correct the load inertia ratio size.|(% style="text-align:center; vertical-align:middle" %)0.01 813 -|=(% style="text-align: center; vertical-align: middle" %)P4-22|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 814 -Operation setting 815 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 816 -Effective immediately 817 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 500|(% style="width:501px" %)The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|(% style="text-align:center; vertical-align:middle" %)0.01 818 -|=(% style="text-align: center; vertical-align: middle" %)P4-23|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 819 -Operation setting 820 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 821 -Effective immediately 822 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)200|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 900|(% style="width:501px" %)Type A suppression phase compensation.|(% style="text-align:center; vertical-align:middle" %)0.1 degree 823 - 824 -**Vibration frequency detection:** 825 - 826 -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. 827 - 828 -**Debugging method:** 829 - 830 -* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression, 831 -* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency. 832 -* 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) 833 -* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20. 834 -* 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. 835 -* 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. 836 - 837 -(% class="table-bordered" style="margin-right:auto" %) 838 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]] 839 -|(% 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!
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