9.11 Vibration Suppression
9.11.1 Overview
This section describes vibration suppression.
9.11.2 Outline
You can use vibration suppression to suppress transient vibration at a low frequency from
1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning.
This is effective for vibration frequencies for which notch filters and anti-resonance control
adjustment are not effective.
Vibration suppression is automatically set by autotuning without a host reference or auto-
tuning with a host reference. Use vibration suppression only if fine-tuning is required or
readjustment is required as a result of a failure to detect vibration. To execute vibration
suppression, input an operation reference and execute the function when there is vibra-
tion.
Perform custom tuning if required to increase the response after performing vibration sup-
pression.
CAUTION!
– Related parameters will be set automatically when vibration suppres-
sion is executed. This may greatly affect the response before and
after execution. Make sure that you can perform an emergency stop
at any time.
– Before you execute vibration suppression, set the correct moment of
inertia ratio (Pn103) with autotuning without a host reference or
another method. 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.
– Vibration suppression detects vibration frequencies between 1 Hz
and 100 Hz.
– Frequency detection will not be performed if there is no vibration in
the position deviation or if the vibration frequency is outside the range
of detectable frequencies. If that is a problem, use a device such as a
displacement meter or vibration sensor to measure the vibration fre-
quency.
– If an automatically detected vibration frequency is not suppressed,
the actual frequency and the detected frequency may be different.
Fine-tune the detected frequency if necessary.
If continuous vibration occurs while the Servomotor is stopping, vibration suppression
cannot be used to suppress the vibration effectively. In this case, use anti-resonance con-
trol adjustment or custom tuning.
Frequency detection may not be possible if vibration does not appear in the position devi-
ation or the vibration that results from the position deviation is too small. You can adjust
the detection sensitivity by changing the setting of the residual vibration detection width
(Pn560), which is set as a percentage of the positioning completed width (Pn522). Per-
form the detection of vibration frequencies again after adjusting the setting of Pn560.
Items That Influence Per-
formance
Detection of Vibration Fre-
quencies
Sigma-7 Series SERVOPACKs
Tuning
Vibration Suppression > Outline
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 374
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