IAI America SCON-CA - Manual (Page 187)

Chapter 5 V
ibration Suppress Control Function
177
Chapter 5 Vibration Suppress Control Function
The vibration suppress control function suppresses vibrations of loads induced by our
actuators.
The function can suppress vibrations in the same direction as the movement of the actuator in
the frequency range from 0.5Hz to 30Hz.
Measure the frequency of the generated vibration and set it to the parameter. Three
frequencies can be defined as parameters. Specify the parameters in the position table to
reflect them on suppression of vibrations generated by the operation. For a single moving
command (position data), only a single parameter can be set.
(Note) Before this function can be used, you must read the cautions described on the next
page.
[Functional Operation]
The figure below shows an example in which two actuators are subject to 2-axis combination.
Actuator A is moved to cause actuator B corresponding to a joint to be vibrated. Measure the
vibrations of B in the direction in which A is moved and make proper vibration suppress control
in the direction to suppress the vibrations of B. Vibrations of actuator B caused by the
movement of B cannot be suppressed.
�
A A
B
(Joint)
B
(Joint)
Vibration in axis
moving direction
� No setting of vibration suppress control � Setting of vibration suppress control