IAI America SCON-CA - Manual (Page 188)

Chapter 5 V
ibration Suppress Control Function
178
Caution:
�
Use of vibration suppress control
It is necessary to obtain a key file if you wish to use the frequency analysis tool for
anti-vibration control included in the PC software.
Please contact IAI for the key file.
� Vibrations subject to vibration suppress control
It is the vibration of the load generated by IAI actuator, and is in the same directions as the
actuator movement.
� Vibrations not subject to vibration suppress control
1) Vibration whose source is not the operation of the actuator
2) Vibration in a direction different from the direction in which the actuator, or the vibration
source, is moved.
3) Vibration of vibrating object itself (This function moves objects easily vibrated without
vibrations and cannot suppress vibrations already generated.)
� Conditions in which vibration suppress effect can hardly be obtained
1) When the frequency to control is the same value as the mechanical angle of the motor
(motor rotation) or the electrical angle of the motor
Frequency of motor’s mechanical angle (motor revolution):
operation speed [mm/s]/lead length [mm]
Frequency of motor’s electric angle:
4 times of frequency of mechanical angle for servo motor installation axis
Same as frequency of linear actuator’s mechanical angle
Example 1: Servo motor installation axis
For lead length 20mm and operation speed 100mm/s:
Frequency of mechanical angle (motor revolution) : 5Hz
Frequency of electric angle (four times of frequency of mechanical angle) : 20Hz
Example 2: Linear Actuator
For lead length 50mm and operation speed 100mm/s:
Frequency of mechanical angle : 20Hz
Frequency of electric angle (same as frequency of mechanical angle) : 20Hz
2) When a higher speed response is required for the vibration control than the set speed
control response, the speed response is not able to catch up with the vibration control.
� Vibration suppress control unavailable in home return and pressing operations
Home return and pressing operations cannot suppress vibrations. Operating the vibration
suppress control function in pressing causes 0A2 “position data error” to occur.
� Prohibition of simultaneous use of vibration suppress control with feed forward gain
The vibration suppress control function cannot be used with feed forward gain
simultaneously.
� Prohibition of switch to use vibration suppress control during moving operation.
Switching between vibration suppress control and normal positioning is disabled during
movement of the actuator. Any switching command causes 0C5 “Illegal control system
transition command error” to occur.
� Response of vibration suppress control
Vibration suppress control has time lag from speed command in the operation plan. This
makes tact time longer.
Lower the setting frequency is, longer the time lag is.
� Prohibition of use of vibration suppress control in pulse-train control mode
The vibration suppress control function cannot be used in the pulse-train control mode.
� Consideration of servo gain
If the servo gain setting is not conducted properly, the effect of the anti-vibration control
may get dropped. First adjust the servo gain prior to setting of vibration suppress control.�