Parameter Name Automatic
Changes
Pn143 Model Following Control Bias in the Forward Direction Yes
Pn144 Model Following Control Bias in the Reverse Direction Yes
Pn145 Vibration Suppression 1 Frequency A No
Pn146 Vibration Suppression 1 Frequency B No
Pn147 Model Following Control Speed Feedforward Compen-
sation
Yes
Pn160 Anti-Resonance Control-Related Selections Yes
Pn161 Anti-Resonance Frequency Yes
Pn163 Anti-Resonance Damping Gain Yes
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
9.10 Anti-Resonance Control Adjustment
9.10.1 Overview
This section describes anti-resonance control.
9.10.2 Outline
Anti-resonance control increases the effectiveness of vibration suppression after custom
tuning.
Anti-resonance control is effective for suppression of continuous vibration frequencies
from 100 to 1,000 Hz that occur when the control gain is increased. Vibration can be elim-
inated by setting vibration frequencies through automatic detection or by manually setting
them to adjust the damping gain. Input an operation reference and execute this anti-reso-
nance control adjustment when there is vibration.
Anti-resonance control is automatically set by autotuning without a host reference or
autotuning with a host reference. Use anti-resonance control adjustment only if fine-
tuning is required or readjustment is required as a result of a failure to detect vibration.
Perform custom tuning if required to increase the response after performing anti-reso-
nance control adjustment. If the control gain is increased, e.g., when custom tuning is
performed, vibration may occur again. If that occurs, perform anti-resonance control
adjustment again to fine-tune the parameters.
CAUTION!
– Related parameters will be set automatically when anti-resonance
control adjustment is executed. This may greatly affect the response
before and after execution. Make sure that you can perform an emer-
gency stop at any time.
– Before you execute anti-resonance control adjustment, set the correct
moment of inertia ratio (Pn103). If the setting greatly differs from the
actual moment of inertia ratio, normal control of the machine may not
be possible, and vibration may occur.
Sigma-7 Series SERVOPACKs
Tuning
Anti-Resonance Control Adjustment > Outline
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 365
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