Flexible Compensation Tuning - Servotronix CDHD2S User Manual

Tuning
Figure 8-38 KNLI tuning

8.13 Flexible compensation tuning

Note ServoStudio2 has not been fully updated.
The flexible compensation parameter reduces the vibration caused by the load and the tracking
error through the sudden change of acceleration (jerk). They also minimize overshoot and settling
time.
Set NLPEAFF (HD flexible compensation) according to the stiffness of the system (in
⚫
Hertz). Stiff systems require high values. Systems with high load inertia and flexible
couplings require lower values; the normal range is 400 to 30 Hz. If not used, set to
5000Hz.
NLAFFLPFHZ (HD spring filter), in Hertz, applies a low-pass filter to the command
⚫
position acceleration used to perform compensation. The acceleration is calculated
based on the input command position, and may be noisy if the input command position
has a low resolution (such as a pulse train input). The application of the low-pass filter
NLAFFLPFHZ smoothes the calculated command position acceleration, and when
applying the parameter NLPEAFF, it should be used when noisy operation is observed.
Optimal tuning: Typically, the maximum frequency is 400Hz. Therefore, for heavy load and
flexible systems, the typical range of NLPEAFF is 400 to 30Hz.
KNLI value is too high; position error
oscillation at stop Position error
overshoot
KNLI selected value
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