CHAPTER 5 SERVO ADJUSTMENT
5
(3) Entering the vibration suppressing anti resonance frequency
Enter the vibration suppressing anti resonance frequency obtained in step (2) to one of parameters
PA1_78, 80, 82 and 84*.
No. Name
Setting range
Default value Change
PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz]
300.0 Always
PA1_80 Vibration suppressing anti resonance frequency 1 1.0 to 300.0 [Hz]
300.0 Always
PA1_82 Vibration suppressing anti resonance frequency 2 1.0 to 300.0 [Hz]
300.0 Always
PA1_84 Vibration suppressing anti resonance frequency 3 1.0 to 300.0 [Hz]
300.0 Always
* Parameters for up to four points can be entered.
While combining the "anti resonance frequency selection 0" and "anti resonance frequency
selection 1" CONT input signals, up to four points can be specified.
The vibration suppressing anti resonance point may vary according
to the arm length and weight of the load.
（a）
（b）
（c）
The vibration suppressing anti
resonance frequency varies according
to conditions a, b and c.
In such a case, assign this function to CONT input signals and switch the vibration
suppressing anti resonance frequency setting.
Anti resonance frequency
selection 1
OFF
Anti resonance frequency
selection 0
OFF
Vibration suppressing anti
resonance frequency
PA1_78
*
OFF
ON
PA1_80
ON
OFF
PA1_82
ON
ON
PA1_84
* This signal is always handled to be turned off if it is not assigned to the sequence input
signal. In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always
enabled.
To disable the vibration suppressing anti resonance frequency, set the vibration suppressing
anti resonance frequency at 300.0 Hz.
Be sure to switch while the motion is stopped. Otherwise shock will be caused.
(4) Entering the S-curve
To attain effective vibration suppression, enter the S-curve.
Enter either PA1_51 (moving average S-curve time*) or PA1_52 (low-pass filter for S-curve time
constant).
The approximate reference value is shown below.
No.
PA1_51
PA1_52
Name
Moving average S-curve time*
low-pass filter for S-curve time constant
Setting range
0.2 to 500[× 0.125 ms]
0.0 to 1000.0[ms]
Default value
20
0.0
Change
Always
Always
* Cannot be set during auto or semi-auto tuning.
5-34 Special Adjustment (Vibration Suppression)