For the notch filter width, the factory setting (2) is generally used Correspondence between notching width and depth Precautions for use of the notch filter The notch filter cannot be used in the torque control mode. When the notching frequency is set to 5,000, the notch filer is inactive. For setting the first and the second notch filters, the user may first use the automatic mode to obtain the third and the fourth notch filter, and then copy their parameters. Though there are 4 notch filters, it is recommended that no more than 2 notch filters be used simultaneously; otherwise vibration may be aggravated.
When adaptive notch filters are used, if vibration cannot be eliminated in a long time, please timely turn off the driver activation function. Relation between gain adjustment and mechanical rigidity To improve the mechanical rigidity The machine shall be firmly fixed onto the foundation to avoid shaking. Highly rigid couplers shall be used. Broad synchronous belts shall be used and tension of the synchronous belts shall be set within the allowable axial load range of the motor. Special reduction gears for servo or gears with small clearances shall be used. Low mechanical rigidity represents low inherent vibration (resonance frequency).
Low mechanical rigidity will largely affect gain adjustment of the servo; for a machine of low rigidity, the servo responsiveness shall not be set too high (high gain). 6.10 Manual gain adjustment (basic) The EA190 series servo has an automatic gain adjustment function; yet due to restriction by load condition, automatic gain adjustment may be unable to meet requirements; to achieve the highest responsiveness and stability through coordination between the servo system and the machine, it is recommended to use manual gain adjustment. 6.10.1 Adjustment of the position control mode For the position control mode of EA190 series, refer to the block diagram of position control mode in Section 6.1.
Adjustment of the position control mode shall follow the order below. 1) Activate the driver. 60 Technical Manual for EA190 Series Servo Driver V100 12 4.0 13 4.76 14 5.66 15 6.73 16 8.0 17 9.51 18 11.31 19 13.45 20 16.0 20 0.2 -14 25 0.25 -12 30 0.3 -10.5 35 0.35 -9.1 40 0.4 -8 45 0.45 -6.9 50 0.5 -6 60 0.6 -4.4 70 0.7 -3.1 80 0.8 -1.9 90 0.9 -0.9 100 1 0 Caution☞ Not all vibration is caused by mechanical resonance. Adjustment of servo gain to its limit may also cause vibration.In this case, improvement can only be made by reducing the gain or shortening the torque command filtering time.