11-28
11-10 Hybrid Vibration Suppression Function
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
11-10
Hybrid Vibration Suppression Function
This function suppresses the vibration that is caused by the amount of the torsion between the
motor and the load in the Fully-closed Control Mode. You can use this function to increase the
gain setting.
Operating Conditions
The hybrid vibration suppression function can be used in the following situations.
Objects Requiring Settings
Operating Procedure
1. Set the Hybrid Vibration Suppression Gain (3634 hex) to the same value as the
position loop gain.
2. Gradually increase the set value of the Hybrid Vibration Suppression Filter (3635
hex) while driving with fully-closed control and check the changes in the response.
If the response improves, find the combination of 3634 hex and 3635 hex that result in the
optimal response by adjusting them.
Precautions for Correct Use
 This function is effective when the amount of torsion between the motor shaft and the load is large.
It may be less effective when the amount of torsion is small.
Conditions
Operating mode Fully-closed Control mode
Others
 When Servo is ON
 When there is no trouble with the motor's normal rotation
 When realtime autotuning function is disabled
 When instantaneous speed observer function is disabled
Index Name Description Reference
3634 hex
Hybrid Vibration
Suppression Gain
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position
loop gain, and finely adjust it based on the
situation.
page 9-43
3635 hex
Hybrid Vibration
Suppression Filter
Set the hybrid vibration suppression filter.
page 9-43
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