208 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
external torque is too high, the low value for KPP cannot meet the demand of
reducing position error. In this case, increasing the position feed forward gain,
(PFG, ID187/P2.002), can effectively help reduce the following error.
The actual position curve changes from (1…3) with the increase in the KPP
value.
Low Frequency Vibration Suppression in Position Mode
If the mechanism’s rigidity is too low, the vibration of transmission part will
persist even when the motor stops running after positioning command is
executed completely. The function of low-frequency vibration suppression can
reduce the vibration of mechanism. The suppression range is between 1.0 Hz and
100.0 H
z. Both manual setting and auto setting are available.
Table 76 - Relevant Parameters
Parameter Name
ID135 (P1.025) LowFreqVibrationSuppression1Frequency
ID136 (P1.026) LowFreqVibrationSuppression1Gain
ID137 (P1.027) LowFreqVibrationSuppression2Frequency
ID138 (P1.028) LowFreqVibrationSuppression2Gain
ID139 (P1.029) LowFreqVibrationSuppressionMode
ID140 (P1.030) LowFreqVibrationDetectionLevel
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