R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 445

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Operating Procedure
1. Setting the Vibration Frequency (Frequency 1: Pn2B, Frequency 2: Pn2D)
2. Setting the Vibration Filter (Filter 1: Pn2C, Filter 2: Pn2E)
3. Set the Vibration Filter Selection (Pn24).
Measure the vibration frequency at the end of the machine. When the end vibration can be
measured directly using a laser displacement sensor, read the vibration frequency f (Hz) from the
waveform measurement and set it as the Vibration Frequency (Pn2B, Pn2D). If no measurement
device is available, use CX-Drive data tracing function, and read the residual vibration frequency
(Hz) from the position deviation waveform as shown in the following figure.
First, set the Vibration Filter (Pn2C, Pn2E) to 0. The stabilization time can be reduced by setting a
large value; however, torque ripple will increase at the command change point as shown in the
following figure. Set a range that will not cause torque saturation under actual operation conditions.
The effects of vibration suppression will be lost if torque saturation occurs.
• The vibration filter setting is restricted by the following equation.
Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration.
10.0 Hz − Vibration frequency ≤ Vibration filter setting ≤ Vibration frequency
Command
speed
Torque command
Vibration filter
setting appropriate
Pn24
0
1
2
No switching (1 and 2 both enabled)
Switching with DFSEL/PNSEL input
Open: Vibration filter 1
Closed: Vibration filter 2
Switching with command direction
Forward operation: Vibration filter 1
Reverse operation: Vibration filter 2
Vibration cycle T
Position deviation
Calculation of
vibration frequency
Switching mode
Vibration filter setting too large
Torque saturation
• The following gives the vibration frequency in the
• Example:
(Pn2B, Pn2D) = 10 × f
When the vibration cycle is 100 ms and 20 ms, the
vibration frequency is 10 Hz and 40 Hz,
therefore set Pn2B = 100, Pn2D = 400.
figure.
f (Hz) =
T(s)
1
7-5 Manual Tuning
7-36
7