Restrictions Of Vibration Elimination; Function Description Of Vibration Elimination - Delta ASDA-A3 Series User Manual

Tuning

5.7.5.4 Restrictions of vibration elimination

1. The two degree of freedom control function must be enabled (P2.094 [Bit 12] = 1).
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2. Frequency range: 1.0 Hz to 400.0 Hz.
3. You can enable two sets of vibration elimination function simultaneously for A3-E and A3-F
models, while you can enable only one set of vibration elimination function for A3-M and A3-L
models.

5.7.5.5 Function description of vibration elimination

The vibration elimination function uses a special algorithm, which can eliminate the vibration in
the machine endpoint without slowing down the system response. This function is automatically
set during the One Touch Tuning process, or you can set this function in the System Analysis
window of ASDA-Soft.
The vibration elimination function builds the flexible mechanical vibration model in the servo
drive under the two degree of freedom control mode, so you need to enable the two degree of
freedom control function before using the vibration elimination function. When the connection
between mechanical parts is not rigid enough, the response between the motor endpoint and
the machine endpoint is not consistent, resulting the condition where the motor has stopped but
the machine endpoint still vibrates. As for this condition, you can use the System Analysis
function in ASDA-Soft to provide optimal settings for the vibration elimination parameters, and
set P2.097 [Bit 8] and [Bit 9] to enable one or two sets of the vibration elimination function. After
the vibration elimination function is enabled, the servo adjusts the motor command according to
the internal model. When you monitor the motor position feedback in the scope, there might be
a jitter, but the machine endpoint is stable when settling.
Vibration elimination not enabled
Position
5-58
Motor endpoint
Position
Machine endpoint
Time
Vibration elimination enabled
Motor endpoint
Machine endpoint
ASDA-A3
Time