260 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 10 Modes of Operation
The following figure shows the system open-loop gain with resonance
suppression.
When the value of parameter ResonanceSuppressionLowPassFilterTime ID210
(P2.025) is increased from 0, the system bandwidth becomes smaller. Although
it solves the problem of resonance frequency, the system bandwidth and phase
margin are reduced.
If the resonance frequency is given, the notch filter can mitigate the resonance
directly. Frequency of the notch filter is 50…5000 Hz and the suppression
attenuation is 0…40 dB. If the resonance frequency does not fall within these
values, using the low pass filter to reduce the resonance is suggested.
Auto-resonance Suppression Mode
Settings:
• X: Auto-resonance Suppression Function
0 = Disable - After this function is disabled, the existing suppression
values remain with their last value.
1 = Enable - When this setting is true, the drive determines the following:
- If the servo is stable and resonance is suppressed and no other
resonance is present; then the servo saves the resonance suppression
data and changes Auto Suppression function = 0. If there is still a
resonance or the drive is unstable, set this value back to 1 and the drive
executes this process again.
Table 96 - Relevant Parameter
Parameter Name
ID230 (P2.047) ResonanceSuppressionConfig
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