CHAPTER 5 SERVO ADJUSTMENT

PA1_78/80/82/84

(Vibration suppressing anti

resonance frequency)

< 10 Hz

α/β*1 ≤ 50 (PG=18 bit)

α/β*1 ≤ 200 (PG=20 bit)

PA1_51*2

(Moving average S-

curve time)

PA1_52

(Low-pass filter for S-

curve time constant)

80

10 ms

50 < α/β*1 ≤ 250 (PG=18 bit)

200 < α/β*1 ≤ 1000 (PG=20 bit)

PA1_51*2

(Moving average S-

curve time)

PA1_52

(Low-pass filter for S-

curve time constant)

160

20 ms

10 Hz to 20 Hz

40

5 ms

80

10 ms

> 20 Hz

16 to 24

2 to 3 ms

40

5 ms

* 1

α

=

β

PA1_06 (numerator 0 of electronic gear)

PA1_07 (denominator of electronic gear)

* 2 Cannot be set during auto or semi-auto tuning.

(5) Checking the effects

There are three checking methods.

(1) Observe vibration of the arm tip with a laser displacement gauge or similar measuring

instrument.

(2) Take a motion picture of the arm tip with a high speed video to check vibration.

(3) Visually observe.

The vibration suppressing anti resonance frequency is not reflected on the servo

analyze function even if it is entered.

Gain

Anti resonance

point remains.

5

Frequency

(6) Finely adjusting the vibration suppressing anti resonance frequency

While checking effects of vibration suppression, finely adjust the reference value (in increments of

0.1 or 0.2).

Special Adjustment (Vibration Suppression) 5-35