Yaskawa Sigma-5 User Manual: Operation of Digital Operator - Manual (Page 113)

3.2 Operations
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Utility Function Mode
3.2.30 Anti-Resonance Control Adjustment Function (Fn204)
This function increases the effectiveness of the vibration suppression after one-
parameter tuning. This function is effective in supporting anti-resonance control
adjustment if the vibration frequencies are from 100 to 1,000 Hz.
This function rarely needs to be used because it is automatically set by the advanced
autotuning or advanced autotuning by reference input. Use this function only if fine-
tuning is required, or vibration detection is failed and readjustment is required.
Perform one-parameter tuning (Fn203) or use another method to increase the respon-
siveness after performing this function. If the anti-resonance gain is increased with
one-parameter tuning performed, vibration may result again. If that occurs, perform
this function again to fine-tune the settings.
(1) Preparation
The following conditions must be met to perform the anti-resonance control adjust-
ment function.
The message “NO-OP” indicating that the settings are not appropriate will be dis-
played, if all of the following conditions are not met.
CAUTION
• If this function is executed, related parameters will be set automatically. There-
fore, there will be a large response change after this function is executed. Enable
the function in a state where the machine can come to an emergency stop at any
time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using
advanced autotuning before executing the anti-resonance control adjustment
function. If the setting greatly differs from the actual moment of inertia ratio, nor-
mal control of the machine may not be possible, and vibration may result.
• This function detects vibration between 100 and 1,000 Hz.
Vibration will not be detected for frequencies outside of
this range, and instead, “F----” will be displayed. If that
occurs, use one-parameter tuning with tuning mode 2
selected to automatically set a notch filter or use the vibra-
tion suppression function (Fn205).
• Vibration can be reduced more effectively by increasing
the anti-resonance damping gain (Pn163). The amplitude
of vibration may become larger if the damping gain is
excessively high. Increase the damping gain from about
0% to 200% in 10% increments while checking the effect
of vibration reduction. If the effect of vibration reduction is
still insufficient at a gain of 200%, cancel the setting, and
lower the control gain using a different method, such as
one-parameter tuning.