Drive Tuning D2 Series Servo Drive User Manual
6-24 HIWIN MIKROSYSTEM CORP.
Figure6.6.1.3 Notch filter
Automatic resonance suppression filter (f3)
After the auto gain tuning is successful, the automatic resonance suppression filter (f3) will be set
and started automatically. However, after the auto gain tuning is completed, when the system
vibration cannot be effectively suppressed by the f3 filter at driving the motor, cancel the check of
“Activate f3” option in the “Filter” tab of “Advanced gains” window, as shown in the red box of figure
6.6.1.1. Then, modify “Filter 1” and “Filter 2” in manual to achieve an effective vibration suppression.
6.6.2 Acceleration feed-forward
The position error of servo control is usually large in the motion phase of acceleration or deceleration.
Especially for applications with a large moving mass or moment of inertial, this problem is more likely to
occur. By setting the parameter of acceleration feed-forward, the position error can be reduced effectively
in the acceleration/deceleration phase.
Following steps are used to adjust the acceleration feed-forward.
Step 1: Click the “Set scope…” button to display the “Scope” window.
Step 2: Step 2. Set “Acc feedforward gain” in figure 6.6.2.1 to 0.
Step 3: Set the maximum acceleration for path planning, and let the motor do the point-to-point motion.
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