Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 199)

5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
5-46
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
With this function, an operation reference is sent, and the function is executed while vibration is occurring.
Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+.
The following methods can be used for the anti-resonance control adjustment function.
• Using anti-resonance control for the first time
• With undetermined vibration frequency
• With determined vibration frequency
• For fine-tuning after adjusting the anti-resonance control
The following describes the operating procedure from the digital operator.
Refer to the Σ -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key
operations of the digital operator.
(1) Using Anti-Resonance Control for the First Time
With Undetermined Vibration Frequency
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function.
Use the
or Key to move through the list,
select Fn204.
2
Press the Key to display the initial setting screen
for tuning mode.
3
Press the or Key and set the tuning mode
"0."
4
Press the Key while "Tuning Mode = 0" is dis-
played. The screen shown on the left will appear. The
detection of vibration frequencies will start and
"freq" will flash. Return to step 3 if vibration is not
detected.
Note: If vibration is not detected even when vibration
is occurring, lower the vibration detection sen-
sitivity (Pn311). When this parameter is low-
ered, the detection sensitivity will be increased.
Vibration may not be detected accurately if too
small value is set.
5
The vibration frequency will be displayed in “freq” if
vibration is detected.
Example of measured waveform
㧾㨁㧺ޓ   ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜
㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀
㧾㨁㧺    ̆ 㨂㨕㨎 㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧜
Status Display
㧾㨁㧺    ̆ 㨂㨕㨎 㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧜
㧾㨁㧺    ̆ 㨂㨕㨎 㧿㨡㨜̆
 㨒㨞㨑㨝 㧩 㧙㧙㧙㧙 㧴㨦
 㨐㨍㨙㨜 㧩 㧜㧜㧜㧜
㧾㨁㧺    ̆ 㨂㨕㨎 㧿㨡㨜̆
 㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦
 㨐㨍㨙㨜 㧩 㧜㧜㧜㧜
Error Error Error
Torque reference
Positioning completed Positioning completed
signal signal
Torque reference
Positioning completed
signal
Ro-
tati
on