Servo control
4.8 Autotuning
Drive functions
126 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Problem handling
Drive vibrates
If the drive vibrates audibly, then the speed controller may have become instable at a
mechanical resonance.
● The instability in the control loop through resonance can be avoided by parameterizing
bandstop filters in the current setpoint.
● Activate the adaptive resonance filter (see Section "Current setpoint filter adaptation
(Page 127)") and, if required, traverse forward and backward and wait a few seconds to
see whether the oscillation stops. If the whistling stops and also can no longer be heard
during operation, then the axis is ready.
● If required, the dynamic response of the axis can now be increased. To do this, the value
of parameter p5272 can be increased. If the drive then vibrates again, parameter p5272
should be reduced again.
If the drive has an encoder with poor resolution, the motor may hum at very low speeds or at
standstill.
● Increase the actual speed value smoothing (p1441) or reduce the dynamic response
(p5272).
● Set parameter p5271.1 to reduce the controller gains for low speeds.
Poor positioning behavior
Poor positioning behavior is possible when the dynamic response of the drive is relatively
low.
The achievable dynamic response depends on the quality and the dimensioning of the
elastomechanical drive train.
Increase the value of parameter p5272 in order to increase the dynamic response of the
drive. The drive may become instable if the values are too high (see, for example, "Drive
vibrates").
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