220 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
If the resonance frequency is given, the notch filter can mitigate the resonance
directly. Frequency of notch filter is 50…5000 Hz and the suppression strength is
0…40 dB. If the frequency meets this condition, using low pass filter to reduce the
resonance is suggested.
Auto-resonance Suppression Mode
Settings:
X: Auto-resonance Suppression Function
0 = Disable auto resonance suppression. After the function is disabled, the
existing resonance suppression parameter values are fixed.
1 = Auto resonance suppression. The servo must determine the following:
Y: Fixed Resonance Suppression Parameter
In auto resonance suppression, you can set the notch filters that require manual
resonance suppression.
Table 81 - Relevant Parameter
Parameter Name
ID230 (P2.047) ResonanceSuppressionConfig
X = Auto-resonance
Suppression
Function
Y = Fixed Resonance
Suppression
Parameter
Z = Fixed Resonance
Suppression
Parameter U = Reserved
Where: See below See below See below
If Then
• The servo is stable and resonance is suppressed
• No other resonance is present
• No other interference source is present
The servo automatically saves the data of resonance
suppression, and the value returns to 0.
If the servo is unstable, re-power on or set to 1 again
for the servo to re-estimate.
Bit Function Description
0 Notch 1 auto/manual setting • 0: Auto resonance suppression
• 1: Manually set the first set of resonance suppression
1 Notch 2 auto/manual setting • 0: Auto resonance suppression
• 1: Manually set the second set of resonance suppression
2 Notch 3 auto/manual setting • 0: Auto resonance suppression
• 1: Manually set the third set of resonance suppression
3 Notch 4 auto/manual setting • 0: Auto resonance suppression
• 1: Manually set the fourth set of resonance suppression
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