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9. Adjustment
9 - 15
(2) Jitter compensation (Vibration suppression at motor stopping)
The load inertia becomes much smaller than usual if the motor position enters the machine
backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for
the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the
backlash amount of speed feedback pulses when the speed feedback polarity changes.
Increase the number of ignored pulses by one pulse at a time, and set a value at which the vibration
can be suppressed. (Because the position feedback is controlled normally, there is no worry of
positional deviation.)
When jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so
take care.
No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2
lmc
vfct
bit Meaning when "0" is set Meaning when "1" is set
4vfct
5
Set the number of compensation pulses for jitter compensation.
00: Jitter compensation invalid 10: 2-pulse jitter compensation
01: 1-pulse jitter compensation 11: 3-pulse jitter compensation
POINT
Jitter compensation vibration suppression is only effective when the motor is
stopped.