Mitsumi electronic MR-J3- A Manual De Usuario
8 - 10
8. SPECIAL ADJUSTMENT FUNCTIONS
POINT
When machine side vibration does not show up in motor side vibration, the
setting of the motor side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external measuring instrument, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship between
the model loop gain (parameter No.PB07) value and vibration frequency is as
indicated below. Make setting after decreasing model loop gain (PG1), e.g.
reduce the response setting.
setting of the motor side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external measuring instrument, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship between
the model loop gain (parameter No.PB07) value and vibration frequency is as
indicated below. Make setting after decreasing model loop gain (PG1), e.g.
reduce the response setting.
2
1
(1.5 PG1)
vibration frequency
8.5 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is initial setting to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following
expression.
servo system is increased. To prevent this, the low-pass filter is initial setting to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following
expression.
Filter frequency(rad/s)
1 + GD2
VG2
10
When parameter No.PB23 is set to "
1 ", manual setting can be made with parameter No.PB18.
(2) Parameter
Set the low-pass filter selection (parameter No.PB23.)
Parameter No.PB23
0 0
0
Low-pass filter selection
0: Automatic setting (initial value)
1: Manual setting (parameter No.PB18 setting)
0: Automatic setting (initial value)
1: Manual setting (parameter No.PB18 setting)
8.6 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop or
can use an input device to change gains during operation.
8.6.1 Applications
can use an input device to change gains during operation.
8.6.1 Applications
This function is used when.
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an input device to ensure stability of the servo system since the load
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an input device to ensure stability of the servo system since the load
inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).