Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 221
Modes of Operation Chapter 10
Z: Fixed Resonance Suppression Parameter
In auto resonance suppression, you can set the notch filters that require manual
resonance suppression.
For example:
If the user sets the ID230 (P2.047) parameter to 0x0021 with the auto resonance
suppression enabled, then the servo searches for the point of resonance and
suppresses it. When Y is set to 2, the user can manually set the second set of
resonance suppression. Thus, if the servo finds two resonance points, then the
servo writes data of the first point to the first set of resonance suppression
parameters. Then, data of the second point is written to the third set of resonance
suppression parameters. Therefore, the second set is skipped.
Auto-resonance Detection Level
The smaller the parameter value is, the more sensitive to resonance. If the set
value of the ID231 (P2.048) parameter is bigger, then the resonance sensitivity
becomes lower; on the other hand, if the set value of the ID231 (P2.048)
parameter is smaller, then the resonance sensitivity becomes higher.
ZCLAMP Function
The ZCLAMP function is enabled when the following conditions are met:
• Condition 1: Speed mode
• Condition 2: DI.ZCLAMP signal is on
• Condition 3: Motor speed is slower than the value of the ID145 (P1.038)
parameter
Bit Function Description
0 Notch 5 auto/manual setting • 0: Auto resonance suppression
• 1: Manually set the fifth set of resonance suppression
Table 82 - Relevant Parameter
Parameter Name
ID231 (P2.048) ResonanceDiagnosticLevel
Table 83 - Relevant Parameter
Parameter Name
ID145 (P1.038) ZeroSpeedWindow
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