4.6 Resonance suppressions
53
5. If the gain cannot be increased due to the resonance of the mechanical system and the
desired responsiveness cannot be obtained, the torque low-pass filter or notch filter can
be adjusted to suppress the resonance, and then the above steps can be repeated to
improve the responsiveness. First, use a torque low-pass filter, and then use a notch filter
if the effect is not good. Refer to Section 4.6.
Gain adjustment procedure for position control loop:
1. Set the moment of inertia ratio of the load.
2. The time constant of velocity loop integration is set to a higher value.
3. The gain of the speed loop is increased within the range of no vibration and abnormal sound,
and slightly reduced if vibration occurs.
4. The integral time constant of the speed loop is smaller in the range of no vibration, and if
the vibration is slightly increased..
5. Increase the position loop gain and slightly reduce it if vibration occurs.
6. If the gain cannot be increased due to the resonance of the mechanical system and the
desired responsiveness cannot be obtained, the torque low-pass filter or notch filter can be
adjusted to suppress the resonance, and then the above steps can be repeated to improve the
responsiveness. First, use a torque low-pass filter, and then use a notch filter if the effect is
not good. Refer to Section 4.6.
7. If shorter positioning time and smaller position tracking error are needed, the position
feedforward can be adjusted appropriately.
4.6
Resonance suppressions
When the mechanical system resonates, it may be caused by the excessive stiffness and fast
response of the servo system, and the gain reduction may be improved. The driver provides a
low-pass filter and a notch to suppress resonance without changing the gain. The parameters
related to resonance suppression are as follows:
Para
meter
Name Range
Default
value
Unit Usage
P007 First torque filtering time constant 0.10～50.00 1.00 ms ALL
P200 First resonant trap frequency 50～1500 1500 Hz ALL
P201 First quality factor of resonant trap 1～100 7 ALL
P202 First resonant trap depth 0～100 0 % ALL
P203 Second resonant trap frequency 50～1500 1500 Hz ALL
P204 Second quality factor of resonant trap 1～100 7 ALL
P205 Second resonant trap depth 0～100 0 % ALL
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