User Manual Of EL7-EC** AC Servo
233
1
POT and NOT invalid
2
Any single sided input from POT or NOT might cause Er260
In homing mode, POT/NOT invalid, please set object dictionary 5012-04 bit0=1
Method 2: Using 605Ah object dictionary through master device to activate this function.
Pr5.11
Name
Servo braking torque setting
Mode
F
Range
0~500 Unit
%
Defaul
t
0
Index
2511h
Activation
Immediate
To set torque limit for servo braking mode.
If Pr5.11 = 0, use torque limit as under normal situation.
Between max. torque 6072 and Pr5.11, actual torque limit will take smaller value.
6.11 Vibration Suppression
6.11.1 Mechanical resonance suppression
Mechanical system has certain resonance frequencies. When servo gain is increased,
resonance might occur at around mechanical resonant frequencies, preventing gain value
from increasing. In such situation, notch filter can be used to suppress resonance to set
higher gains or lower vibration.
To suppress mechanical resonance:
1.
Torque command filter time constant
Set filter time constant to reduce gain at around resonant frequencies
Torque command filter blocked frequencies
（
Hz
）
fc=1/ [2π×PA1.04(0.01ms)×0.00001
）
]
2.
Notch filter
Notch filter suppress mechanical resonance by reducing gain at certain frequencies.
When notch filter is correctly set, resonance can be suppressed and servo gain can
be increased.
Notch filter bandwidth
Center frequency of the notch filter, frequency bandwidth with reduction of
-3dB.
Notch filter depth
