8. Tuning
8.1 Overview
8.1.1 Basic Conception
Tuning is the process of satisfying the servo performance by adjusting the parameters involved in the
control law.
Tuning Flow
The process of tuning is usually an iterative process, and Figure 8-1 shows the general flow.
Parameter Classification
There are two types of parameters in the tuning.
Function Parameters: refers to some application function selections or switches that may improve Servo performance.
Adjustment Parameters: increasing or decreasing these parameters may improve Servo performance.
Servo Performance
In general, the indicators used to evaluate Servo performance are bandwidth, response time, overshoot, steady state error, anti-load disturbance, speed ripple fluctuation, torque ripple, and so on. Table 8-1 shows the comparison of the graphics before and after tuning in the example indicators.
8.1.2 Control Block Diagram
It is necessary to learn the Servo control principle and Figure 8-2 shows the Servo control block diagram. The position loop, the speed loop and the torque loop are cascade structures, corresponding to the position control mode, the speed control mode and the torque control mode respectively
NOTE: only the basic tuning parameters during the tuning are shown in the figure.
8.1.3 Tuning Process
The Drive provides a variety of tuning methods, you can adjust the device according to the process shown in Figure 8-3, in order to obtain the desired Servo performance.
8.1.4 Precautions Before Tuning
8.2 Tuning Modes
8.2.1 Tuning-Less
Function Description
The tuning-less performs auto-tuning to obtain a stable response regardless of the type of machine or changes in the load. Autotuning is started when the Servo is turned ON.
The tuning-less function uses an Autotune parameters adjustment module that updates the position loop and speed loop parameters in real time based on the servo operating state (position, speed, current). Figure 8-4 shows the block diagram in tuning-less.
When using the tuning-less function, the following parameters are automatically adjusted
NOTE: The parameters will not change automatically in tuning-less function.
Applicated Case
Applied for that no more than 30 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
Application Restrictions
The following functions or applications are not available in the Tuning-less function:
Gain switch is disabled.
P/PI Switch is disabled.
Speed feedback by using observed speed is disabled.
Load Torque Compensation is disabled.
Model Following Control Function is disabled.
8.2.2 One-Parameter Auto-Tuning
Function Description
This tuning function is similar to the tuning-less function, using an Autotune parameters adjustment module that updates the position loop and speed loop parameters in real time based on the servo operating state (position, speed, current).
Only the parameter Pn101 (Servo Rigidity) needs to set in One-Parameter Auto-Tuning function, and
Figure 8-5 shows the block diagram in One-Parameter Auto-Tuning.
Figure 8-5 Block diagram in One-Parameter Auto-Tuning
Before performing One-Parameter Auto-Tuning, you need to manually set the following parameters:
When using One-Parameter Auto-Tuning function, the following parameters are automatically adjusted.
NOTE: The parameters will not change automatically in tuning-less function.
Compared to Tuning-less, there are some features below in One-Parameter Auto-Tuning:
Tuning based on a proper load inertia percentage can get a better servo performance.
The setting of Servo Rigidity can be applied to more operating conditions.
Applicated Case
Applied for that more than 50 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
Application Restrictions
The following functions or applications are not available in One-Parameter Auto-Tuning function:
Gain switch is disabled.
Model Following Control Function is disabled.
8.2.3 Manual Tuning
Function Description
In the Manual Tuning, you need to manually adjust the gain parameters without using the autotune parameter adjustment module, until the Servo get the desired performance. Figure 8-6 shows the block diagram in Manual Tuning.
Figure 8-6 Block diagram in Manual Tuning
It is necessary to adjust the three-loop control parameters of the Servo from the inside out, that is, the adjustment sequence is Torque loop → Speed loop → Position loop. In addition, in order to meet the stability, the bandwidth setting should be the largest in the torque loop, the speed loop is the second, and the position loop is the smallest.
The following parameters need to be adjusted in each loop when performing Manual Tuning.
Torque loop (Torque Control Mode)
− Torque Reference Filter Time (Tf):
The torque reference filter filters the torque reference to remove the high frequency band, which can effectively reduce the torque ripple of the Motor output, eliminate signal noise and reduce the temperature rise of the Motor. The larger the Torque Reference Filter Time, the better the filtering effect on the torque reference. However, the greater the phase lag, and the slower the torque response. Therefore, a smaller acceptable value should be set to obtain a larger torque loop bandwidth in the actual tuning.
Speed loop (Speed Control Mode)
− Relevant parameter in torque loop (Tf)
− Load Inertia Percentage (JL)
Properly setting the Load Inertia Percentage is a prerequisite for the tuning to obtain a better Servo performance.
You can calculate the load inertia percentage (difficult and complex) by yourself, or you can get it by the utility function Fn009 or by ESView V4, certainly, you can directly modify the parameters by the host controller.
− Speed Loop Gain (Kv), Speed Loop Integral Time (Ti)
The speed loop is controlled using a Proportional-Integral Controller that contains Speed Loop Gain and Speed Loop Integral Time. Both of them determine the speed loop bandwidth and antidisturbance performance of the Servo. In general, if you can increase the setting of the Speed Loop Gain, the speed loop bandwidth will be increased and the anti-load disturbance performance will be better. And, if you can decrease the setting of the Speed Loop Integral Time, the integral action will be stronger, the speed loop bandwidth will be increased, and the anti-load disturbance performance will be better. In addition, the integral action may reduce the steady-state error to zero.
Table 8-2 lists several commonly used adjustment methods based on the characteristics of the speed
step response.
It is recommended to increase the Speed Loop Gain and decrease the Speed Loop Integral Time to obtain a larger speed loop bandwidth.
Position loop (Position Control Mode)
− Relevant parameters in speed loop (Kv, Ti, Tf, and JL)
− Position Loop Gain (Kp)
The position loop is controlled using a Proportional Controller that only contains the Position Loop Gain. This parameter determines the position loop bandwidth. If you increase the Position Loop Gain, the position loop bandwidth will be increased and the anti-load disturbance performance will be better. However, overshooting and vibration in the position reference may be occurred.
It is recommended to set the Position Loop Gain to a quarter of the Speed Loop Gain, and make appropriate adjustments based on this.
Applicated Case
Applied for that more than 50 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
NOTE: the settings of Pn107 to Pn110 are taken effect after the gain is switched.
8.3 Tuning Tools
There is an Auto-Tuning Tool and a Manual Tuning Tool in Tuning tools. When using a tuning tool, the Drive will execute the position references generated internally, Figure 8-5 shows the block diagram in using a tuning tool.
The reference generator plans an appropriate position reference according to the settings of relevant parameter.
8.3.2 Auto-Tuning Tool
Function Description
With the Auto-Tuning Tool, the reference generator can plan the position curve and generate a position reference as inputs to the position loop.
There are two operation patterns (POS0 and POS1), you can set their relevant parameters respectively.Figure 8-8 shows an example of position-speed timing diagram in PJOG operation.
The Drive will operator the Motor repeatedly according to the parameter settings of the two operation patterns until the tuning is completed. You can set the parameters Pn164 and Pn168 to a negative value for reversing the Motor, so that there are four ways of the operation in the program jogging, as is shown in Figure 8-9.
You shall set the Rotations (Pn164 and Pn168) and Max Speed (Pn165 and Pn169) to a proper value. If the Rotations is set too small or the Max Speed is set too large, it is possible that the maximum speed set cannot be reached. In this case, it is necessary to increase the Rotations or decrease the Max Speed. Use the Auto-Tuning Tool as shown inFigure 8-10.
The following parameters are automatically adjusted when using the auto-tuning tool.
Applicated Case
Applied for the high rigidity (up to 20 times load moment of inertia) equipment.
Applied for the low rigidity (up to 10 times load moment of inertia) equipment.
The number of revolutions is more than 1 rotation, and the rotation speed is higher than 100 rpm.
Relevant Parameters
Application Restrictions
You can use the automatic vibration suppression function when using the auto-tuning tool.
The following functions or applications are not available when using Auto-Tuning Tool:
Gain switch is disabled.
Model Following Control Function is disabled.
Notch Filter is disabled.
Vibration Suppression is disabled.
Load Oscillation Suppression is disabled
Operation Procedure: Use the Panel Operator of the Drive
The following are the steps to use the Auto-tuning tool.
Step 1 Press [M] key several times to select the Utility Function Mode.
Step 2 Press [▲] key or [▼] key to select the function number Fn017.
Step 3 Press [◄] key, and Panel Operator displays as below
Step 4 Press [M] key to execute this operation, and Panel Operator display as below.
Step 5 When this operation has been completed, Panel Operator will display the result of execution.
Step 6 Press [◄] key to return to the display of the Fn017.
---- End
Operation Procedure: Use the ESView V4
By using the Auto-Tuning Tool, the Drive can automatically perform the round-trip (forward and reverse) operation to adjust for machine characteristics.
Step 1 Select Tuning → Tuning Tools → Auto-Tuning Tool in the Menu Bar of the ESView V4 main windows.
Step 2 Read and follow the precautions in the warning box, and then click OK.
Step 3 The Auto-Tuning Tool window will be displayed in Function Display Area.
Step 4 Click Detect to perform Load Inertia Identification function if necessary.
Step 5 Set the relevant parameters for the operation patterns POS0 and POS1.
Rotation Number: Set the numbers of rotation the Motor will run in the operation pattern POS0 or POS1.
Rotation Speed: Set the Motor running speed in the operation pattern POS0 or POS1
Stop Time: Set the hold time when the Motor stops running in the operation pattern POS0 or POS1,
and then switches to the other operation pattern.
Step 6 Click Apply to complete the settings.
Step 7 Click Running Tuning.
Step 8 The window will display the preparations before running the tuning.
The setting will be written into the Drive automatically after you check or uncheck Online Vibration Suppression option.
Step 9 Click Servo Off / Servo On for supplying power to the Motor.
Step 10 Click Run.
Step 11 The Motor will be run between the operation patterns POS0 and POS1
Step 12 Click OK when the Auto-Tuning Tool function has been completed.
Step 13 Click Save Parameter.
Step 14 Check the RESULT, and click Save, the settings of parameters will be written into the Drive automatically.
---- End
8.3.3 Manual-Tuning Tool
By using the Manual-Tuning Tool, you will set the Servo gain parameters again and again according to the waveform graphics of the data (Speed Feedback, Speed Setting, Position Feedback and Position Setting), as far as the performance of the servo meets the requirements.
Step 1 Select Tuning → Tuning Tools → Manual-Tuning Tool in the Menu Bar of the ESView V4 main windows.
Step 2 The Manual-Tuning Tool window will be displayed in Function Display Area.
Step 3 Set the necessary parameters of the Test Command.
Choose Test Command Wave as Position Slope, the Drive will operate in position control method, and the trajectory of the Motor in Two-way movement and One-way movement is shown in the figure below. (Set Repeat Times as 2)
The relevant parameters in the Position Slope are shown in the table below.
Sinusoidal of position
When "Test instruction waveform" is set to "position sine", the driver will run in position control mode, and the position instruction generated internally makes the motor move in non-unidirectional motion and the track of unidirectional motion as shown in Figure 8-14 (" Repetition times "is set to 2).
The relevant parameters in the Position Stepwise are shown in the table below.
Queue a position steps
When "Test instruction waveform" is set to "position step", the driver will run in position control mode, and the position instructions internally generated make the motor move in non-unidirectional and unidirectional time sequence as shown in Figure 8-15 (assuming "repetition times" is set to 2)
Linear velocity trapezoid
When "Test Instruction Waveform" is set to "speed trapezoid", the driver will run in position control mode, and the position instruction generated internally makes the motor in non-unidirectional motion and unidirectional motion speed waveform as shown in Figure 8-15 (" Repetition times "is set to 2).
Anyway, you risk losing your set speed by setting the "travel distance" too small.
The relevant parameters in the Speed Trapezoid are shown in the table below
Step 4 Set the necessary parameters for the data collected.
X Axis: Indicates Times.
Left Axis: Select Sample Type as Speed or Position.
This selection will affect the Sample Type of the Right Axis.
Right Axis: Select Sample Type as None, Speed, Position, or Offset.
The setting Offset indicates the deviation of the sample type (speed or position) selected by the left axis.
Step 5 Set the necessary parameters for the Servo gain.
The parameters that may be used are shown in Table 8-3.
Table 8-3 The parameters that may be used
Step 6 Click Servo Off / Servo On for supplying power to the Motor.
Step 7 Click 
to start using Manual-Tuning Tool
Step 8 When the Manual-Tuning Tool function has been completed, the waveform graphics of the data result is displayed in the window.
The figure below is an example of data collecting results with the Position Slope command.
Step 9 Repeat setting the parameters and perform the data collecting until result meets the requirements.
Step 10 Click Setting Parameters after confirming that the results have reached the desired performance, and the parameters will be written into the Drive.
----End
8.4 Feedback Speed Selection
The speed feedback from the encoder is the calculate result that the Drive read the position value from the encoder and differentiate time.
There is a speed observer inside the Drive for detecting the speed of the Motor in real time. The detected speed can be used for host controller monitoring or as a speed feedback for the speed loop.
In the case of low speed or low encoder resolution, the method of position-to-time differentiation introduces large noise. You can set Pn162=1 to use observed speed as the feedback speed.
In addition, you can increase the setting of Pn161 for making the observed speed closer to the actual speed, but overshooting will be likely to occur.
If you keep the default setting of Pn162, you can use a low-pass filter to eliminate the noise and highfrequency band, in this case, you shall set Encoder Speed Filter Time (Pn135) as a proper value. Increase the setting of Pn135, the filtering effect will be better, and the encoder feedback speed will be smooth, but the phase lag of the speed feedback is also larger, which can reduce the servo performance.
8.5 Additional Adjustment Functions
8.5.1 Gain Switching
Function Description
The gain switching function can be used for the manual tuning. It is required to switch from 1st gain parameters to 2nd gain parameters for the Servo operation in a specific stage, so that the overall performance of the Servo system can reach the desired performance.
Take Figure 8-11 as an example, the position stage focuses on the performances such as position ripples and positional rigidity, while the moving stage focuses on the performance such as following error. In this case, two switchable groups of gain parameters are required to meet the Servo performance.
The parameters of the first gain and the second gain are as follows
The gain switching function includes two settings: one is the conditions for starting the gain switching and the other is which process to start the gain switching. Figure 8-1213 shows a timing diagram for the gain switching.
Conditions for the Gain Switching
The Drive uses the first group of gain parameters by default. You can set the parameter Pn121 (Gain Switch Mode) as a desired value, so that the second group of gain parameters are used when the condition set in Pn121 are met.
Set Pn121 to 0 (Fixed to first group gains), indicating that the first group of gain parameters is always used.
Set Pn121 to 1 (Use external signal (G-SEL) as the condition) or 10 (Use positioning completed flag as the condition), indicating that switch to second group of gain parameters when the G-SEL signal is active or positioning completed, otherwise the first group of gain parameters is used.
Set Pn121 as 2 to 7, indicating that switch to second group of gain parameters when the switching condition exceeds the set threshold value, otherwise the first group of gain parameters is used.
In this case, you can set a proper Hysteresis for Gain Switch (Pn126) to avoid the error between input and output, andFigure 8-13 shows the diagram for this setting.
Set Pn121 to 8 (Use position reference and actual speed as the condition), indicating that there are two conditions to be met when switching to the second gain:
− Condition 1: Hysteresis switching based on position reference, you shall set a proper Threshold value for Gain Switch (Pn123) and Hysteresis for Gain Switch (Pn126). This condition is met when the output exceeds the sum of Pn123 and Pn126.
− Condition 2: Switch based on actual speed judgment, and you shall set a proper Speed Threshold for Gain Switch (Pn124). This condition is met when the actual speed exceeds the threshold value.
Both condition 1 and condition 2 are met, switching to second group of gain parameters, otherwise the first group of gain parameters is used.
Set Pn121 to 9 (Fixed to second group gains), indicating that the second group of gain parameters is always used.
Relevant Parameters
8.5.2 P/PI Switching
The Drive uses the Proportional-Integral Controller by default to adjust the speed loop. You can set Pn116 (P/PI Switch Mode) for switching to the Proportional Controller when the set condition is met.
Set Pn116 to 4 (Fixed to PI Control), indicating that the Proportional-Integral Controller is always used.
Set Pn116 as 0 to 3, indicating that switch to Proportional Controller when the switching condition exceeds the set threshold value, otherwise the Proportional-Integral Controller is used.
The relevant threshold parameters are shown in the table below.
Take the default settings as an example, the default setting of Pn116 is 0 (Use torque reference as the condition), and the default Torque Reference Threshold for P/PI Switch (Pn117) is 200, in this case, when the torque reference percentage exceeds 200, the speed loop adjustment will be switched from PI control to P control, and then if the torque reference percentage is not more than 200, the speed loop adjustment is switched to PI control.
8.5.3 Feedforward
Feedforward includes speed feedforward and torque feedforward.
Speed feedforward can improve position response and reduce position following error
Torque feedforward can improve the speed response and reduce the speed following error
Figure 8-1415 shows the block diagram in the feedforward function.
In general, the differential of the position reference is used as the feedforward, you can also set the feed forward by the controller or other application functions.
You can set Pn005 to select the method for the feedforward.
Internal Feedforward
In order to reduce the overshoot caused by the feedforward when the setting of Pn005.3 or Pn005.2 is 0, it is necessary to set Speed Feedforward (Pn112) or Torque Feedforward (Pn114) to adjust the feedforward compensation value.
Internal Speed Feedforward ＝ Differential of position reference × Speed Feedforward
Internal Torque Feedforward ＝ Differential of speed reference × Load Inertia Percentage × Torque Feedforward
In addition, it is required to filter the noise caused by the differential for the feedforward. You can increase the Filter Time for the feedforward, the noise can be filtered better, but overshooting may be occurred.
In the case of high rotation speed, you shall set Pn005.0 to 2 and Pn005.2=0.
Model Following Control Feedforward
You shall confirm and set that the Model Following Control function has been enabled (Pn150.0=1 or 2), and then set Pn005.3=1(Use the model following control speed) or Pn005.2=1 (Use the model following control torque feedforward).
Feedforward Set by Controller
The setting of Pn005.3=2 (Use the speed feedforward set by the controller) or Pn005.2=2 (Use the torque feedforward set by the controller) is only available for EtherCAT Communication.
The relevant objects are 60B1h and 60B2h.
Feedforward calculated by Cubic Interpolation
The setting of Pn005.3=3 (Use the speed feedforward generated by Cubic interpolation algorithm) or Pn005.2=3 (Use the torque feedforward generated by Cubic interpolation algorithm) is only available for EtherCAT Communication.
The relevant object is 60C0h.
8.5.4 Friction Compensation
The load friction must exist in the transmission system. However, severe load friction may cause lowspeed crawling, waveform distortion at speed zero-crossing, positioning lag, etc., which can affect the dynamic and static performance of the Servo system.
The friction compensation function is that the Drive compensates the load friction by using the relevant parameter settings, which can be used for applications with frequently forward and reverse motion, and high speed-stability requirements.
Friction compensation is used to compensate for viscous friction fluctuations and coulomb friction fluctuations.
You can set Coulomb Friction Compensation (Pn130) manually, and its direction is consistent with the direction of rotation speed. In addition, it is necessary to set Speed Dead Band for Coulomb Friction Compensation (Pn131) to avoid the Motor changing the compensation direction frequently near zero speed, in this case, the Friction Compensation in the Dead Band is 0, as is shown inFigure 8-15.
The viscous friction compensation is a linear relationship with the Motor speed, as is shown inFigure 8- 16. You can set the Viscous Friction Compensation by Pn132.
8.5.5 Load Torque Compensation
If there is a sudden load torque during the operation of the Motor, the speed will decrease or the position will move. The continuously changing load torque will also cause the speed fluctuation or position jitter.
In this case, it is generally necessary to improve the anti-load disturbance performance of the servo by tuning.
In the tuning process, the load torque compensation function can be used to improve the anti-load disturbance performance, considering that the reference response performance and the load disturbance resistance cannot be balanced.
As shown in the figure below, the speed drop is caused by a sudden load torque, and the load torque compensation function can be used to reduce the drop of the speed.
The load torque compensation function is to compensate the load torque compensation to the torque reference through the load torque observer.
To reduce the overshoot caused by load torque compensation, use the load disturbance compensation percentage to adjust the compensation value: Load Torque Compensation＝Load Torque Observer × Load Inertia Percentage (Pn160)
In addition, you can adjust the bandwidth of the load torque observer via Load Torque Observer Gain (Pn161). Increase the setting of Pn161 for making the observed torque closer to the actual torque, but overshooting will be likely to occur.
8.5.6 Model Following Control
The Model Following Control is outside of the position loop. In Model Following Control, new position references are generated based on the theoretical Motor control model, and relevant speed feedforward and torque feedforward are generated. Applying these controls to the actual control loop can significantly improve the response performance and positioning performance of the position control. Figure 8-17 shows the block diagram in model following control.
To use the Model Following Control function, set the following parameter.
To use the Model Following Control properly, you shall adjust the relevant parameters in the order of Torque Loop → Speed Loop → Position Loop → Model Following Control.
For details on the relevant parameter of Torque Loop, Speed Loop and Position Loop, refers to the section 8.2.3 Manual Tuning. The relevant parameters of Model Following Control are as follows.
The Model Following Control Gain (Pn151) determines the position response performance, and increase this setting can improve speed of response, but overshooting will be likely to occur.
The Model Following Control Gain Correction (Pn152) determines the damping ratio, and increase this setting can also increase the damping ratio.
The (speed/torque) feedforward in Model Following Control is a percentage factor that is used to adjust the output feedforward.
The following application restrictions apply to the Mode Following Control.
Only applied for the Manual Tuning.
Only applied for the Position Control Modes.
It is unavailable in fully-closed loop control.
8.6 Vibration Suppression
8.6.1 Notch Filter
The notch filter is used to eliminate vibration caused by mechanical resonance.
There are three notch filters in the Drive, those who can used independently or in combination, Figure 8- 18 shows the block diagram of using the notch filters.
Figure 8-18 Block diagram of using the notch filters
Figure 8-19 shows the relevant parameters for the notch filter. Since the notch filter can attenuate the signal at the notch frequency, if you set a proper frequency (Pn181, Pn184 or Pn187), depth (n182, Pn185 or Pn188) and width (n183, Pn186 or Pn189), the vibration signal in the torque reference can be filtered
Set the frequency of notch filter to 5000, indicating the notch filter is unavailable.
The setting range of the depth is from 0 to 23.
The setting range of the width is from 0 to 15.
8.6.2 IF (Intermediate Frequency) Vibration Suppression
The IF vibration suppression filter is used to process the speed deviation and compensated to the torque reference. It is applied for the frequency range 100 Hz to 2000 Hz. Figure 8-20 shows the block diagram of using the IF vibration suppression filter.
Pn173 determines the frequency center at which vibration suppression is to be performed.
Pn174 determines the vibration suppression bandwidth of the filter, indicating the range of the adjustment filter near the center frequency. Increase this setting can increase the range of vibration suppression, but it will affect the phase of the frequency near the center.
The highpass filter and the lowpass filter are respectively used to filter high frequency DC signals and low frequency DC signals.
Pn178 determines the level of the final compensated IF vibration suppression.
8.6.3 Load Oscillation Suppression
Use the Load Oscillation Suppression function for suppressing low frequency jitter at the end of the load during position control, as is shown in Figure 8-21.
This function is based on the Model Following Control. According to the relationship between the load position and the Motor position in the Model Following Control, aiming at controlling the stability of the load position, and correcting the position reference, as well as the feedforward generated by the Model Following Control. Figure 8-22 shows the block diagram of using the Load Oscillation Suppression.
Pn155 determines frequency at which Load Oscillation Suppression is to be performed.
Pn156 determines the filter time. You can increase this setting, and the filtering effect will be better. However, it may reduce the suppression effect due to the lag.
You can set Limit for Load Oscillation Suppression (Pn157) as a proper limit value, helping to reduce overshooting during the start and stop.
Frequency Detection for Load Oscillation Suppression
If the frequency for the Load Oscillation Suppression can be detected by a measuring instrument (laser interferometer, etc.), please write the frequency data (in 0.1 Hz) into the Pn155 directly.
You can also use related functions in ESView V4 (FFT, etc.) to measure the frequency for the Load Oscillation Suppression.
Application Restrictions
The following application restrictions apply to the Load Oscillation Suppression.
Load Oscillation Suppression can only be used when the Model Following Control is in effect.
Only applied for the Manual Tuning.
Only applied for the Position Control Modes.
It is unavailable in fully-closed loop control.
8.6.4 Automatic Vibration Suppression
The automatic vibration suppression function determines the vibration state by the Motor during operation and recognizes the vibration frequency, and then selects the notch filter or the intermediate frequency vibration suppression function according to the characteristics of the vibration and automatically sets the vibration frequency.
The automatic vibration suppression function determines and detects the vibration frequency during the operation of the Motor, and then choose the notch filter or the IF suppression function, and set the relevant parameters for the vibration suppression
Pn179 determines the threshold of a frequency amplitude. If the detected frequency amplitude exceeds this setting, it will be regarded as a vibration.
Applied in Tuning-less, One-Parameter Auto-Tuning, Manual Tuning, and Manual-Tuning Tool When the automatic vibration suppression function is applied in the Tuning-less, One-Parameter AutoTuning, Manual Tuning, and Manual-Tuning Tool, the following parameters can be set temporarily
Applied in Auto-Tuning Tool
When the automatic vibration suppression function is applied in the Auto-tuning Tool, the following parameters can be preset, and you can decide whether to write into the Drive.
