End Vibration Suppression - Leadshine EL8-EC Series User Manual

6.12.2 End vibration suppression

Motor
If the mechanical has an end that is long and heavy, it might cause end vibration at
emergency stop and affect the positioning. Usually happens on long armed axis with loose
end. The frequency is usually within 100Hz which is lower than mechanical resonant
frequencies. It is called low-frequency resonance which can be prevented by applying low
frequency suppression function.
To apply low frequency suppression
1. Trace current/ position deviation waveform when motion stops.
2. Measure the vibration cycle T1 of current waveform.
3. Convert T1 into low frequency resonance by F1 = 1/T1
4. Write F1 into Pr2.14
5. If some other low frequency resonance occurs, please repeat step 1-3 and write F2
into Pr2.16.
Command
velocity
User manual of EL8-EC***F AC Servo
End vibration
Direction
Moving body
Position deviation
T1
Time t
259