Delta ASDA-A2 Series User Manual page 191

Chapter 6 Control Modes of Operation
Please note:
1. After the low-frequency vibration is suppressed, the changes of the response may
become excessive. Therefore, please ensure that the machine is able to stop any time
and ensure the safety of personnel working with the machine when execute low-
frequency vibration suppression function.
2. The low-frequency vibration suppression function can be enabled only in position
control mode (PT, PR or PR-PT mode).
3. When the users use resonance suppression function, the resonance condition can be
improved immediately after the correct resonance frequency is found. However, when
the users use low-frequency vibration suppression function, the vibration of the
mechanical system will not be eliminated immediately. The vibration condition is
improved gradually after the correct frequency is found. This is because the low-
frequency vibration suppression function is not effective for the vibration caused by
external force and the vibration occurred before using suppression function.
4. After the low-frequency vibration suppression function is enabled, it will certainly
affect the original response performance. When the value of the low-frequency is
lower, the effect upon the response performance is greater. At this time, the users
can adjust the setting value of P1-26 to increase the position response. But, please do
not set P1-26 to a higher value. If the setting value of P1-26 is too high, it will affect
the motor operation.
5. In order to avoid that the vibration frequency may not easily to be found when the
commanding time is too fast in Auto mode, we recommend the users can set a longer
command delay time. The command can be given after the vibration frequency is
found.
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Revision September 2012