Notice for Usage of HRV Filter of Supplement to Manual Page 2
Supplement to Manual
2/2
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
Motor s
p
eed
Oscillation occurs: Not
g
ood
Tor
q
ue command
No oscillation: OK
4. 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 abnormal oscillation of torque command.
If you could not eliminate the machine resonance by HRV filter, you should adjust the velocity
control loop by other method, for example, set larger value for time constant of torque command
filter (No.4121), set smaller value for velocity loop gain (No.4040 to No4054), and so on.
(a) Center frequency: 100Hz, Bandwidth: 30Hz, Damping: 10%
(b) Center frequency: 100Hz, Bandwidth: 30Hz, Damping: 50%
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