Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: Set the torque for static friction compensation and cutoff speed When mechanical equipment starts in the static state, great static friction is commonly present as the lubrication system has not come into full operation. 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When the motor speed reaching the set value of P4-36 is detected, the added static friction compensation torque will be withdrawn linearly within the range of the set value plus 40rpm. 8.10 P5-xx Vibration suppression parameters Parameter functions: Select the adaptive filter mode.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 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, EA350 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.
164 P4-35 Static friction torque compensation value Initial value 0.0 Communication address 0423H Unit % Time of taking effect With immediate effect Setting range 0.0~100.0 Data size 16bit Control mode S T P4-36 Cutoff rotating speed for static friction torque compensation Initial value 0.0 Communication address 0424H Unit rpm Time of taking effect With immediate effect Setting range 0~200 Data size 16bit Control mode S T 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 50~5000 Data size 16bit Control mode P S T