－ 57 －
■Notes:
・Execute measurement in such a state that the servo can be turned
off immediately in case of emergency.
・When measuring the machine resonance, reduce the gains close to the
min.level. (Reduce the values of “Position loop gain” and “Velocity
loop gain”, and increase the value of “Velocity loop integration
time constant”.)
・If the frequency characteristic data is printed in environment in
which the printer cannot be used correctly, PANATERM
®
may terminate
or give no response. Before printing, carefully check the printer.
・When frequency characteristic data is saved, the parameters, such
as the amplifier gains, are not saved. You are recommended to
load (receive) the parameter from the amplifier and save them
in a file when saving the frequency characteristic data.
<Measuring conditions>
“Amplitude”: The amplitude is limited to the range in which the sum of amplitude and
offset does not exceed the max.rotational speed.
* Setting the amplitude higher increases the measuring accuracy.
However if the amplitude is set too high, the torque will be saturated,
and the accuracy will lower. Set the amplitude starting from a lower
value, and gradually increase it, checking the measurement results.
“Offset”: The offset is limited to the range in which the sum of amplitude and
offset does not exceed the max.rotational speed.
* During measurement, the set offset is used as an average velocity
command. When the polarity is positive, the motor turns
counterclockwise, and when the polarity is negative, the motor turns
clockwise. When the offset is set higher than the amplitude setting so
that the motor is always in a certain direction, acceptable measurement
result can be obtained. If the moving range is narrow, the motor may
overrun the moving limit. The approximate amount of turn of the motor
during measurement can be obtained by the following formula. Before
staring the measurement, make sure that the motor will not overrun the
moving limit.
Approximate amount of turn = Offset[r/min]*0.017*(sampling rate+1)
“Sampling rate”: * If the sampling rate is set higher, the measuring accuracy will be
improved in an low frequency band, but the measuring time will be
increased. On the contrary, if the sampling rate is set lower, the
measuring accuracy will be improved in a high frequency band. Sat the
sampling rate starting from 1, and adjust it, checking the measurement
results.
* If you have any question about measuring condition setting,
click “Help” in the area (3).
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