Notice for Usage of HRV Filter of Supplement to Manual Page 1

Supplement to Manual
1/2
Design.
Date Ed.
1
04.07.11
S
HEET
DRAW. No.
C
U
S
T.
TITLE
MORITA
Notice for usage of HRV filter of
αi series Spindle software.
B-65280EN/05-01
FANUC LTD
01
Notice for usage of HRV filter function of αi series Spindle software
1. General
We inform about the notice for usage of HRV filter function of αi series Spindle software.
2. Parameters for HRV filter
15i 16i 30i
3391 4391 4391
HRV filter1 attenuation center frequency
3392 4392 4392 HRV filter1 attenuation bandwidth
3393 4393 4393 HRV filter1 damping
3416 4416 4416 HRV filter2 attenuation center frequency
3417 4417 4417 HRV filter2 attenuation bandwidth
3418 4418 4418 HRV filter2 damping
3419 4419 4419 HRV filter3 attenuation center frequency
3420 4420 4420 HRV filter3 attenuation bandwidth
3421 4421 4421 HRV filter3 damping
3422 4422 4422 HRV filter4 attenuation center frequency
3423 4423 4423 HRV filter4 attenuation bandwidth
3424 4424 4424 HRV filter4 damping
3. Contents
If you apply the incorrect settings for HRV filter, there is a case that the velocity control become
unstable and abnormal oscillation of torque command is caused. The possibility of occurrence of
this phenomenon becomes higher when you set “Low” center frequency, “Wide” bandwidth and
“Small” damping. And spindle motor may rotate up over than velocity command, if the oscillation
level is higher.
So, when you use HRV filter, please adjust the parameters according to following description.
(1) Generally, you should apply HRV filter when the frequency of machine resonance is higher
than 200Hz.
(2) Attenuation bandwidth should be set lower than 30% of center frequency, and you should
set this parameter as low as possible.
(3) You should set damping parameter as high as possible.
(4) When the frequency of machine resonance is lower than 200Hz, you should adjust the
parameters according to the paragraph (2) and (3), and confirm that there is no abnormal
oscillation of torque command after you change the parameters. (See chapter 4.)
(5) When you do not use the HRV filter, you must set “0” for all three parameters for each stage
of HRV filter.
Please note that if you set “0” for center frequency and not “0” for bandwidth by mistake,
“the filter which has 96Hz of center frequency” is applied to velocity control.

Contents Summary of Notice for Usage of HRV Filter of Supplement to Manual

  • Page 1Notice for usage of HRV filter function of αi series Spindle software 1. General We inform about the notice for usage of HRV filter function of αi series Spindle software. 2. Parameters for HRV filter 15i 16i 30i 3391 4391 4391 HRV filter1 – attenuation center frequency 3392 4392 4392 HRV filter1 –
  • Page 24. Notice about tuning procedure when the machine resonance is lower When the frequency of machine resonance is lower than 200Hz, adjust the parameters according to the paragraph (2) and (3) of chapter 3. After you change the parameters, please rotate the spindle and confirm that there is no abnorma