Low-Frequency Vibration Suppression In Position Mode - Delta ASDA-B3 Series User Manual

Operation Mode
When you set the value of KPP (P2.000) too high, the bandwidth for the position loop is
increased and the phase margin is reduced. Meanwhile, the rotor rotates and vibrates in the
forward and reverse directions. In this case, decrease the KPP value until the rotor stops
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vibrating. When the external torque is too high, the low value for KPP cannot meet the demand
of reducing the position following error. In this case, increasing the position feed forward gain,
PFG (P2.002), can effectively reduce the position following error.
The actual position curve changes from (1) to (3) with the increase in the KPP value.
(4) stands for the Position command.

6.2.9 Low-frequency vibration suppression in Position mode

If the machine is too flexible, vibration persists even when the motor stops after executing the
positioning command. The low-frequency vibration suppression function can reduce the
machine vibration. The suppression range is between 1.0 Hz and 100.0 Hz. Both auto and
manual functions are available.
Auto setting
If you have difficulty finding the resonance at low frequency, enable the auto low-frequency
vibration suppression function, which automatically searches for the specific resonance at low
frequency. If you set P1.029 to 1, the system automatically disables the auto low-frequency
vibration suppression function and starts to search the resonance at low frequency. When the
detected resonance frequency remains at the same level, the system automatically changes the
settings as follows.
1. Sets P1.029 to 0.
2. Sets P1.025 to the first frequency and sets P1.026 to 1.
3. Sets P1.027 to the second frequency and sets P1.028 to 1.
If P1.029 is automatically reset to 0, but the low-frequency vibration persists, check if P1.026 or
P1.028 is enabled. If the values of P1.026 and P1.028 are both 0, it means no resonance
frequency is detected. Lower the value of P1.030 and set P1.029 to 1 to search the vibration
frequency again. Note that when you set the detection level too low, it might detect noise as
resonance at low frequency.
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ASDA-B3