Estun Summa Series - Load Oscillation Suppression

Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-39
Parameter
Setting
Meaning
When Enabled
Classification
Pn174
－
Adjust Bandwidth of Vibration
Suppression Filter
Immediately
Adjustment
Pn175
－
Vibration Suppression
Immediately
Adjustment
Pn176
－
Lowpass Filter Time for Vibration
Suppression
Immediately
Adjustment
Pn177
－
Highpass Filter Time for Vibration
Suppression
Immediately
Adjustment
Pn178
－
Damping of Vibration Suppression
Filter
Immediately
Adjustment
NOTE: Set Pn173 to 2000, indicating the notch filter is unavailable.
9.6.3 Load Oscillation Suppression
Use the Load Oscillation Suppression function for suppressing low frequency jitter at the end of the load
during position control, as is shown in Figure 9-21.
Figure 9-21 Load Oscillation Suppression
Before Tuning After Tuning
This function is based on the Model Following Control. According to the relationship between the load
position and the Motor position in the Model Following Control, aiming at controlling the stability of the
load position, and correcting the position reference, as well as the feedforward generated by the Model
Following Control. Figure 9-22 shows the block diagram of using the Load Oscillation Suppression.
Figure 9-22 Block diagram of using the Load Oscillation Suppression
Position loop Speed loop Torque loop
M
Current
Encoder
Motor
SpeedPosition
Model
following
control
Load Oscillation Suppression
Speed feedforward
Torque feedforward
Parameter
Setting
Meaning
When Enabled
Classification
Pn150.0
2
Use the model following control and
load oscillation suppression.
After restart
Function
Pn155
－
Load Oscillation Frequency
Immediately
Adjustment