Motion iWMC Series - Other Factors that Affect Performance

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Seng Notch_On to 1 turns on the notch lter. If the resonant frequency is unknown, the user can set the maximum
value of the d2.14 current command small, so that the amplitude of system oscillaon lies within an acceptable
range, and then try to adjust Notch_N and observe whether the resonance disappears.
Resonant frequency can be measured roughly according to the Iq curve when resonance occurs on the soware
oscilloscope.
Table 4–3 Notch lter list
Internal
address
Name
Descripon
Default
Range
60F90308
Notch_N
Used to set the frequency of the internal notch lter to
eliminate mechanical resonance generated when the
motor drives the machine. The formula is
F=Notch_N*10+100. For example, if mechanical
resonance frequency F=500 Hz, the parameter seng
should be 40.
45
0~90
60F90408
Notch_On
Used to turn on or turn o the notch lter.
0: Turn on the notch lter
1: Turn o the notch lter
0
0~1
4.3 Other Factors
The control command is created by the upper controller (e.g. PLC):
⚫ The control command should be smooth as much as possible and must be correct. For example, the control command
should not create the acceleraon commands (inside the posion commands) that the motor cannot provide.
⚫ The control command should follow the bandwidth limit of the control loop.
The machine design:
In the actual applicaon, performance is normally limited by the machine. Gaps in the gears, so connecon in the
belts, fricon in the rail, resonance in the system – all of these can inuence nal control performance.
Control performance aects the machine’s nal performance, as well as precision, responsiveness and stability.