Servotronix CDHD2S User Manual page 226

Tuning
Figure 8-28 Frequency response varying with NLANTIVIBSHARPn
Suitable for 20Hz center frequency
Step 2 – Tune damping gain
Increase the value of parameter NLANTIVIBGAINn until optimal damping is reached.
At each increment, the current command (ICMD) is recorded and the oscillation damping
⚫
is checked. Obtain optimal system damping for better damping current oscillations.
Note: If high-frequency vibration occurs while increasing this parameter, please slightly reduce
the adaptive global gain (KNLUSERGAIN).
Anti-vibration tuning – example
Note: Some variable plots are scaled (indicated by "x").
When tuning without vibration suppression, position errors, current oscillations and settling
time are very long.
Figure 8-29 Position error and current oscillation without vibration suppression
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