EA180 Series Servo Drive Users Manual 6.4.2 Functions of gain adjustment modes 59 Function Description Real-time auto gain adjustment Deduce the inertia of mechanical load in real time, and automatically set the matching gain. Real-time auto gain adjustment Measure the inertia of load offline, and automatically generate gain by setting an appropriate rigidity. Auto adjustment Adaptive filter In the actual running state, deduce the resonant frequency through the analysis of the motor speed, automatically set the coefficient of the notch filter, and remove the resonant component from the torque command, thus reducing the vibration of the resonant point.
Basic steps Position control mode adjustment Speed control mode adjustment Torque control mode adjustment Gain switching Perform gain switching using internal data or external signals to achieve the effects of reducing vibration when stopping, shortening setting time, improving command follow-up, etc. Mechanical resonance suppression In the case of low mechanical rigidity, vibration or noise occurs due to resonance caused by the distortion of shaft, the flexibility of belt, etc., and the gain setting cannot be improved. At this time, resonance can be suppressed by a notch filter. Feedforward function In position control mode, the responsiveness can be improved through speed feedforward.
Acceleration feedforward can improve the responsiveness of speed control. Manual adjustment External disturbance suppression Suppress the change of motor speed and improve the stability by changing the addition range of external interference torque and load variation calculation values. Friction torque compensation Reduce the influence of mechanical frictions, including dynamic friction compensation, viscous friction compensation and vertical axis gravity compensation. Inertia ratio switching Switch between the two inertia ratios, which can cope with two loads with phase changes in actual inertia ratio. Torque command filter It can adjust filtering of torque commands to reduce vibration.