When a motor starts running from zero speed, application of a static friction compensation torque in the same direction of motor running can overcome the static friction of the mechanical transmission system during the startup process. This compensation torque takes the rated torque of the motor as reference, and is applied in the rotating direction of the motor. When the motor speed reaching the set value of P4-36 is detected, the added static friction compensation torque will be withdrawn linearly within the range of the set value plus 40rpm. 8.10 P5-xx Vibration suppression parameters Parameter functions: Select the adaptive filter mode. P5-00 = 0 :
Manually set the 4 notch filters P5-00 = 1 : Automatically adjust the depth of notch filters 3 and 4, and manually set the width P5-00 = 2 : Clear notch filters 3 and 4 If resonance occurs during operation of a mechanical system, it may have been caused by too high rigidity of the servo system or too quick response. In this case, improvement can be made by reducing the gain, but it may also result in slower response of the system. To suppress mechanical resonance without changing the gain, EA190 servo drivers provide two solutions, i.e. low-pass filtering of command pulses (set by P1-15) and use of notch filters.
Vibration suppression is realized by using notch filters to suppress the resonance peaks of mechanical response, as shown in the following diagram: Parameter functions: Set the range of speed errors. When resonance occurs, speed oscillation will occur; near resonant points, distribution of oscillation frequency is close to normal distribution; if the oscillation width is greater than the set value of this parameter, a resonant point shall be deemed constituted. Parameter functions: Set the central frequency of the first notch filter. When it is set to 5000, the notch filter is inactive.
134 Technical Manual for EA190 Series Servo Driver V100 P5-00 Adaptive filter mode setting Initial value 0 Communication address 0500H Unit - Time of taking effect Taking effect upon power-on again Setting range 0~2 Data size 16bit Control mode P S T P5-01 Detection accuracy and sensitivity of automatic vibration suppression Initial value 100 Communication address 0501H Unit - Time of taking effect With immediate effect Setting range 10~30000 Data size 16bit Control mode P S T P5-02 1st notching frequency Initial value 5000 Communication address 0502H Unit Hz Time of taking effect Taking effect upon power-on again Setting range 50~5000 Data size 16bit Control mode P S T P5-0 1st notching width Initial value 2 Communication address 0503H