CHAPTER 2 WIRING

Anti resonance frequency selection 0: Sequence input signal (Reference value 57)

Anti resonance frequency selection 1: Sequence input signal (Reference value 58)

Select the anti resonance frequency, which is a vibration suppressing control function.

 Function

2

In a spring characteristic structure such as the robot arm and transfer machine, vibration is caused

at the end of the workpiece upon sudden acceleration or deceleration of the motor. Vibration

suppressing control aims at suppression of vibration of the workpiece in such a system, thereby

realizing positioning at a shorter cycle time.

Four points through combination of anti resonance frequency selection 0 and anti resonance

frequency selection 1 can be specified.

The anti resonance point may vary according to the length of the arm and the weight of the load.

(a)

(b)

(c)

Selection of the anti resonance frequency is shown in the table below.

Anti resonance

Anti resonance

frequency selection 1 frequency selection 0

Vibration suppressing Vibration suppressing

resonance frequency workpiece inertia ratio

OFF

OFF

ON

ON

OFF

ON

OFF

ON

PA1_78

PA1_80

PA1_82

PA1_84

PA1_79

PA1_81

PA1_83

PA1_85

 Parameter setting

To assign anti resonance frequency selection 0 or anti resonance frequency selection 1 to the

sequence input terminals, specify the corresponding value ("57" or "58") to the input terminal

function setting parameter.

If these signals are not assigned to the sequence input signals, they are treated as “always OFF”.

Therefore, PA1_78 (vibration suppressing anti resonance frequency 0) is always enabled.

To disable the anti resonance frequency, set the anti resonance frequency at 300.0 Hz.

Because in-cycle switching of the anti resonance frequency causes a shock, switch during

stoppage without fail.

In addition, it is recommended to use PA1_52 (low-pass filter (for S-curve) time constant) in

parallel.

2-56 Description of I/O Signals