Low-Frequency Vibration Suppression Filter; Function Restriction; Function Description - Delta ASDA-A3 Series User Manual

Tuning

5.7.4 Low-frequency vibration suppression filter

5.7.4.1 Function restriction

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1. Set the control mode (P1.001.YX) to Position mode (PT or PR).
2. Frequency range: 1.0 Hz to 100.0 Hz.
3. If the low-frequency vibration suppression function and the vibration elimination function are
enabled simultaneously, the system response becomes slower.

5.7.4.2 Function description

The low-frequency vibration suppression filter is also called position command notch filter. The
low-frequency vibration suppression function filters the frequencies causing mechanical
vibration but delays the system response time.
If the machine stiffness is insufficient, mechanical vibration persists even when the motor stops
after the positioning command is complete. The low-frequency vibration suppression function
can reduce the mechanical vibration. The suppression range is between 1.0 Hz and 100.0 Hz.
The servo provides both manual and auto settings for the function of low-frequency vibration
suppression. During the auto tuning process, the auto low-frequency vibration suppression
function is enabled and properly set.
Auto setting:
If you have difficulty finding the frequency, enable the auto low-frequency vibration suppression
function to automatically search for the vibration frequency.
If you set P1.029 to 1, the system automatically disables the auto low-frequency vibration
suppression function (P1.026 and P1.028 are set to 0) and starts to search for the frequency
which causes low-frequency vibration. When the detected frequency remains at the same level,
the system automatically changes the settings in the following order.
1. Automatically resets P1.029 to 0.
2. Sets P1.025 as the first set of frequency and P1.026 to 1.
3. Sets P1.027 as the second set of frequency and P1.028 to 1.
When P1.029 is automatically reset to 0, but the low-frequency vibration persists, check if
P1.026 or P1.028 is enabled automatically. If the values of P1.026 and P1.028 are both 0, it
means no frequency is detected. Lower the value of P1.030 (Low-frequency vibration detection)
and set P1.029 to 1 to search for the vibration frequency again. P1.030 sets the detection range
for the peak-to-peak amplitude of low-frequency vibration. When the frequency is not detected,
it is probably because the setting value of P1.030 is higher than the vibration of the machine. If
so, it is suggested that you decrease the value of P1.030. Note that if the value is set too small,
the system might mistakenly regard noise as the low-frequency vibration. In this case, you can
use the Scope function of ASDA-Soft and set the channel to Position error (pulse) to observe
the peak-to-peak amplitude of the signal during position for setting P1.030.
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ASDA-A3