XtraDrive User Manual Chapter 6: Servo Adjustment
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f) Increase the Second Order torque filter (Pn1A5) to obtain
smoothed movement, very helpful in flexible systems. You can
increase it till 60 to 70 percentages.
g) If necessary, repeat sub-steps b) to d) until an optimal value is
obtained.
h) You can try to increase Ka (Pn1AD), this will sometimes
improve results. You must have some filter on acceleration
feedback (Pn1AE).
3. Tune flexible system parameters.
a) KffSpring (Pn1BB). This parameter may be used to suppress
overshoot, to reduce it progressively, or to cancel overshoot.
b) KfbSpring (Pn1BD). This parameter may be used to suppress
oscillations in a flexible system. Default value is 2000Hz.
Decrease progressively, or try values close to the suspected low
self-oscillation frequencies.
4. Advanced parameter:
Integral Offset Averaging Time (Pn1C0). If this parameter is set
(>0), then each time the system is stopped (no command input), an
average value of the steady torque is calculated. This value is then
used as an adaptive offset for the torque command. The averaging
time for this offset is set by the value of Pn1C0. Increase it if you
have some force on the motor in a steady state, like gravity.
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