Vibration Suppression; Mechanical Resonance Suppression - Leadshine EL8-EC Series User Manual

compensation value
Range -100~100
Activation Immediate
To reduce the effect of mechanical friction in the movement(s) of the axis. Compensation values can be
set according to needs for both rotational directions.
Applications:
1. When motor is at constant speed, d04 will deliver torque values.
Torque value in positive direction = T1;
Torque value in negative direction = T2
Pr6.08/Pr6.09 = T
f

6.12 Vibration Suppression

6.12.1 Mechanical resonance suppression

Mechanical system has certain resonance frequencies. When servo gain is increased,
resonance might occur at around mechanical resonant frequencies, preventing gain value
from increasing. In such situation, notch filter can be used to suppress resonance to set higher
gains or lower vibration.
To suppress mechanical resonance:
1. Torque command filter time constant
Set filter time constant to reduce gain at around resonant frequencies
Torque command filter blocked frequencies（Hz） fc=1/
[2π×PA1.04(0.01ms)×0.00001）]
2. Notch filter
Notch filter suppress mechanical resonance by reducing gain at certain frequencies.
When notch filter is correctly set, resonance can be suppressed and servo gain can
be increased.

Notch filter bandwidth
Center frequency of the notch filter, frequency bandwidth with reduction of -3dB.
Unit
=
User manual of EL8-EC***F AC Servo
% Default 0 Index 2609h
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