Mechanical Resonance Suppressing - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive
P0.46
P0.47
P0.48
P0.49
Internal
speed limit
command
External
speed limit
command
P3.70
P3.71
P3.72
P3.73
P3.74
P3.75
P3.76
The common procedure for adjusting parameters in speed mode is as follows:
1. Restore default settings.
For details, see section 5.2.5.3 "Factory parameter restoring".
2. Adjust the torque smoothing filter.
If the analog input is a torque command, you can adjust the torque smoothing filter to smooth the
torque change.
3. Set the frequency division for feedback pulse output.
If the encoder feedback pulse signal needs to be output, you can set the frequency-division output
coefficient parameters P0.06 and P0.07 to change the pulse output frequency.

7.3 Mechanical resonance suppressing

The mechanical system resonates at a certain frequency. If a high servo response speed is set when
the mechanical rigidity is low, the shaft torsion may cause resonance (including vibration and
abnormal noise) near the mechanical resonant frequency. At this situation, you can set notch filter
parameters to effectively suppress mechanical resonance.
A notch filter can suppress the mechanical resonance peak by reducing the gain at certain frequency.
You can set notch filter parameters to suppress the resonant frequency, width, and depth, so as for
the system to obtain higher gains or reduce vibration.
The servo driver has been equipped with four notch filters, which are specified by the first notch filter
parameters P1.23, P1.24, and P1.25, second notch filter parameters P1.26, P1.27, and P1.28, third
notch filter parameters P1.29, P1.30, and P1.31, and fourth notch filter parameters P1.32, P1.33, and
P1.34 respectively.
Note: The notch filters are a lagging factor for the servo system. If the center frequency of a notch
filter is incorrectly set or the suppression depth is too large, the vibration may be stronger. You are
P2.20 P2.33
P2.31 P2.34
P0.62
P2.32
P0.63
P0.65
Gain
switching
P4.10
Speed limit
selection
P0.67
Speed
P2.03
detection
P2.08
filter
P0.06
P0.07
P0.08
Frequency
division output
Torque command
Internal
P0.66 torque
command
P3.23
Analog
P3.24 torque
command
P3.25
Communication
P4.14
bus torque
command
Speed
Notch filter
controller
P1.23 P1.29
P2.00
P1.24 P1.30
P2.01
P1.25 P1.31
P2.05
P1.26 P1.32
P2.06
P1.27 P1.33
P1.01
P1.28 P1.34
P1.02
P1.19 P1.20
-237-
Commissioning
P0.60
P0.61
Torque
command
selection
Torque
P0.68 command
Ramp
Torque filter
P2.04
Torque limit
P2.09
Current
P4.53
controller
Encoder Motor