54 Technical Manual for EA190 Series Servo Driver V100 followability Suppression of mechanical resonance When the mechanical rigidity is low, resonance resulted from shaft twisting and belt extension/contraction may produce vibration or noise, and makes improvement of gain setting impossible; in this case, a notch filter can be used to suppress resonance Feedforward function Upon position control, speed feedforward can improve the responsiveness. Acceleration feedforward can improve the responsiveness of speed control.
External disturbance suppression function It functions to suppress change of the motor speed and improve the stability by changing the external disturbance torque and the addition amplitude load change estimation Friction torque compensation This function reduces the impact of mechanical friction, and provides dynamic friction compensation, viscous friction compensation and vertical shaft gravity compensation. Inertia ratio switching function It switches between two inertia ratios corresponding to the 2-stage load change of the actual inertia ratio Torque command filter It can adjust the torque command filtering to reduce vibration.