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5. set the filter width (to see resonance frequencies clearly), find the resonance frequency;
6. Notch parameters need to be set manually. Refer to 6.7.6 notch filter for details.
As an example, through the analysis of mechanical characteristics, the resonance frequency is 328
Hz, and the third notch filter can be used. The parameters are as follows:
P2-69 = n.1000 P2-77 = 328
Note: In both adaptive and auto-tuning modes, if mechanical characteristic analysis is used, the notch
can be set manually. If there are multiple resonance points, the third to fifth notch can be configured in
turn.
6.7.5 Vibration suppression (manual setting)
If the resonance frequency of the mechanical system is known, the vibration can be eliminated by
setting the vibration frequency manually. Please configure the third to fifth notches. The related
parameters are detailed in 6.7.6 notch filter.
6.7.6 Notch filter
Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the
notch filter is set correctly, the vibration can be effectively suppressed and the servo gain can be
continuously increased.
The principle diagram of notch filter is as follows:
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