Vibration Suppression; Vibration Suppression Function - Parker FL-20-C Series Product Manual

2001h-23h
2001h-24h

9.4 Vibration Suppression

9.4.1 Vibration Suppression Function

Resonance may produce at about the mechanical resonance frequency when the servo gain is
increased, making the gain cannot be increased further.
Mechanical resonance can be suppressed in the following two ways:
1) Torque reference filter (2002h-0Fh and 2002h-10h)
Set the filter time constant to make the torque reference attenuates at above the cutoff frequency,
suppressing mechanical resonance.
2) Notch filter
The notch reduces the gain at certain frequency to suppress mechanical resonance. After
resonance is suppressed with correct setting of the notch, attempt to increase the gain gradually.
The following figure shows the principle of the notch.
1~32000
Function code
Po133
The time from one gain switching to another gain smoothly.
Speed loop gain switching time
Setting Range
0~20000
Function code
Po134
The time from one gain switching to another gain smoothly.
Gain 2 switch to gain 1 delay time
Setting Range
0~32000
Function code
Po135
When gain 2 switches to gain 1, delay the time set by Po135, then switch
the time according to the setting of Po133.
0.1ms
Mapping
N
Setting Unit
0.1ms
Mapping
N
Setting Unit
0.1ms
Mapping
N
290
20
Data type Accessibility
INT16
PP PV CSP
Mfr's Value
100
Data type Accessibility
INT16
PP PV
Mfr's Value
1000
Data type Accessibility
INT16
Immediate
RW
CSV
Effect
Immediate
RW
CSP CSV
Effect
Immediate
RW