3.2 Operating Procedures for Utility Functions
3.2.31 Adjust Anti-resonance Control (Fn204)
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3.2.31
Adjust Anti-resonance Control (Fn204)
You can use this utility function to increase the effectiveness of vibration
suppression after one-parameter tuning.
This utility function is effective for suppression of continuous vibration
frequencies from 100 to 1,000 Hz that occur when the control gain is
increased.
Perform one-parameter tuning (Fn203) if required to increase the
response after performing this utility function. If the anti-resonance gain
is increased, e.g., when one-parameter tuning is performed, vibration
may occur again. If that occurs, perform this function again to fine-tune
the parameters.
Preparations
Always check the following before you execute anti-resonance control
adjustment.
• The parameters must not be write-prohibited (Fn010 must be set to
0000).
• The servo must be in ready status.
• There must be no overtravel.
• The control method must not be set to torque control.
• Tuning-less function must be disabled (Pn170 = n.
0).
• The test without a motor function must be disabled (Pn00C =
n.
0).
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