Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 183)

5 Adjustments
5.7.1 Vibration Suppression Function
5-46
5.7 Vibration Suppression Function (Fn205)
This section describes the vibration suppression function.
5.7.1 Vibration Suppression Function
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
This function is set automatically when advanced autotuning or advanced autotuning by reference is executed.
In most cases, this function is not necessary. Use this function only if fine-tuning is required or readjustment is
required as a result of a failure to detect vibration.
Perform one-parameter tuning (Fn203) or use another method to increase the responsiveness after performing
this function.
(1) Before Performing Vibration Suppression Function
Check the following settings before performing the vibration suppression function.
a) A message (NO-OP) indicating that no operations are possible will be displayed, if all of the following
conditions are not met.
• The control must be set to position control.
• The tuning-less function must not be enabled.
• Test without motor function must not be enabled. (Pn00C.0 = 0)
b) Observe the following condition to ensure operation.
• The write prohibited setting (Fn010) must not be set.
(2) Items Influencing Performance
If continuous vibration occurs when the motor is not rotating, the vibration suppression function cannot be
used to suppress the vibration effectively. If the result is not satisfactory, perform anti-resonance control
adjustment function (Fn204) or one-parameter tuning (Fn203).
(3) Detection of Vibration Frequencies
No frequency detection may be possible if the vibration does not appear as a position error or the vibration
resulting from the position error is too small.
The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width
(Pn560) which is set in accordance with the value of the positioning completed width (Pn522). Perform the
detection of vibration frequencies after adjusting the remained vibration detection width (Pn560).
CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, the response before
and after using this function may vary greatly. 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 this function. If the setting greatly differs from the actual moment of inertia ratio, normal control
of the SERVOPACK may not be possible, and vibration may result.
• This function detects vibration frequency between 1 to 100 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, “F-----” will be displayed.
• Frequency detection will not be performed if no vibration results from position error or
the vibration frequencies are outside the range of detectable frequencies. If so, use a
device, such as a displacement sensor or vibration sensor, to measure the vibration.
• If vibration frequencies automatically detected are not suppressed, the actual fre-
quency and the detected frequency may differ. Fine-tune the detected frequency if
necessary.