Tuning
9.6 Resonance suppression
SINAMICS V90, SIMOTICS S-1FL6
326
Operating Instructions, 04/2019, A5E36037884-007
Note
Resonance suppression
For detailed information about the resonance suppression, refer to Section "Resonance
suppression (Page 326)".
Parameter settings
You need to set the following servo gains related parameters manually when using the
manual tuning function.
Parameter
Range
Default
Unit
Description
p2533
0 to 1000
0
ms
LR position setpoint filter time constant
p2572
1 to 2000000 Motor de-
pendent
1000
LU/s
2
IPos maximum acceleration
p2573
1 to 2000000 Motor de-
pendent
1000
LU/s
2
IPos maximum deceleration
p29110[0]
0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29120[0]
0 to 999999
Motor de-
pendent
Nms/rad Speed loop gain 1
p29121
[0]
0 to 100000
15
ms
Speed loop integral time 1
p29111
0.00 to
200.00
0.00
%
Position loop feed forward gain
9.6
Resonance suppression
The resonance suppression function is filter (notch filter) function. It detects mechanical
resonance at a frequency between 250 Hz and 1500 Hz, and decreases the gain of specific
frequency (by automatically setting notch filter) to suppress the mechanical resonance.
Now four current setpoint filters are available for the V90 servo drive. Filter 1 is lowpass filter.
Filter 2, filter 3 and filter 4 are band damp filters.
The gain decreasing frequency, width as well as depth can be set by setting the notch filter:
