D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-31
6.6.6 Vibration suppression feature
The vibration suppression feature (VSF) is used to suppress the vibration generated by the motor during
the movement. Especially when the load of mechanism is the cantilever, the vibration is particularly
evident. Through the “VSF” tab in the “Advanced gains” window, the effect of vibration suppression can
be achieved by setting “Frequency” and “VSF factor”, and checking the “enable VSF” option. The setting
range of “Frequency” is 0.1 - 200 Hz, and the range of “VSF factor” is 0.7 - 1.5. Generally, the value of
“VSF factor” is recommended to be 1.0, same as the default value. Note that “enable VSF” cannot be
checked or unchecked while the motor is moving; otherwise the motor will generate an unexpected
vibration and error.
Figure6.6.6.1 Vibration suppression feature (VSF)
The following is the operation method for finding the vibration frequency and starting the vibration
suppression feature.
Step 1: Set the pre-planned acceleration, deceleration, speed, and travel. Then make the motor do the
back-and-forth motion.
Step 2: Open “Scope” to observe “Position Error” and “Reference Velocity”, as shown in figure6.6.6.2.
Step 3: Click
(“Plot view”) at the right side of the “Scope” window to analyze captured graphs.
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