Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 165)

5.6 Anti-Resonance Control Adjustment Function (Fn204)
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Adjustments
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.
The SigmaWin+ is required to execute this function.
The following methods can be used for the anti-resonance control adjustment function.
• With undetermined vibration frequency
• With determined vibration frequency
The following describes the operating procedures.
The anti-resonance control adjustment function supports the adjustment of anti-resonance control effective for
vibration frequencies from 100 to 1,000 Hz when servo gain is increased. Vibration can be suppressed by set-
ting vibration frequency by auto detection or by manual setting to adjust damping gain. Input a reference and
execute this function when there is vibration.
CAUTION
Be sure to carefully read the SigmaWin+ Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
This function will automatically set parameters when used. As a result, the response speeds may change considerably
after execution. Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
• The moment of inertia (mass) must be correctly set to execute this function.
If it is not correctly set, satisfactory anti-resonance control cannot be achieved.
• If the frequency is changed while the anti-resonance control adjustment function is being used, the current
anti-resonance control effect will be lost. Care must be taken when automatic frequency detection is exe-
cuted in Auto Detect mode.
• If vibration cannot be suppressed by executing this function, cancel execution and reduce the servo gain
by other methods such as custom tuning.
• Use an adjustment method such as custom tuning to improve response characteristics after executing this
function.
When the servo gain is increased during an adjustment such as custom tuning, vibration may be gener-
ated again. In this case, execute the anti-resonance control adjustment function again for fine adjustment.