D1-N Series Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM Corp. 6-29
6.6.5 Current loop
The gains (Ki and Kp) of current loop are calculated according to the motor parameters and do not need
to be adjusted again. However, if the motor parameters are not correctly set, users can use these gains
for adjustment. The current filter is a low-pass filter which can be set according to the result of frequency
response. If current loop gains are set to be too large, noise may occur. At this time, please decrease the
frequency of low-pass filter. For instance, set the value to 500 HZ.
Figure 6.6.5.1 Current loop
6.6.6 Vibration suppression filter
Vibration suppression filter (VSF) is used to suppress vibration during motion. For instance, when the
motor is used with robotic arm with end effector, the vibration could be greater during motion. Users can
set Frequency and VSF factor in VSF tab of Advanced gains window. Check the checkbox of enable
VSF to suppress vibration. The setting range of Frequency is from 0.1 to 200 Hz. The setting range of
VSF factor is from 0.7 to 1.5. Normally it is suggested to set VSF factor to 1.0, as the default value.
Please be noted that do not check or uncheck the checkbox of enable VSF when the motor is moving.
Otherwise, unexpected vibration or error may occur. Below are the instructions of finding vibration
frequency and enabling vibration suppression filter (VSF).
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