Delta Electronics none manual Resonance Suppression, Auto Mode Continuous adjustment, Ncf

Chapter 6 Control Modes of OperationASDA-AB Series

users usually use time domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque shaft load, input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method. The users can reduce the responsiveness of input command tracking by using input command low-pass filter.

Auto Mode (Continuous adjustment))

This Auto Mode provides continuous adjustment of loop gains according to measured inertia automatically. It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide range of load inertia change. The period of adjustment time is different depending on the acceleration and deceleration of servo motor. To change the stiffness and responsiveness, please use parameter P2-31.

Motor Speed

W

Inertia Measurement

J

6.3.7 Resonance Suppression

The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without changing control parameter.

Relevant parameters:

P2 - 23

NCF	Notch Filter (Resonance Suppression)	Communication Addr.: 0217H
Default: 1000		Related Section:
Applicable Control Mode: P/S/T		Section 6.3.7
Unit: Hz

Range: 50 ~ 1000

Settings:

This parameter is used to set resonance frequency of mechanical system. It can be used to suppress the resonance of mechanical system. If P2-24 is set to 0, this parameter is disabled.

6-24 Revision March 2008, Doc. Name: 2007PDD23000011