mechanical resonance. If the high-frequency noise is generated due to the gradual increase in the rigidity level
adjustment process, the vibration is caused by excessive gain, and the current rigidity level is the upper limit
value of the mechanism.
5-7-1. The servo and mechanical connections themselves produce resonance
Resonance can be solved by reducing the gain or setting a notch filter. If the notch filter needs to find out
the resonance frequency first, it can be identified by using the simple and fast FFT function of the driver or
mechanical characteristic analysis.
Fast FFT operation steps
Operation steps:
F0-12, long press【ENTER】to enter FFT function, it shows ‘E_FFt’.
Click [Enter] to enter the torque setting interface and display the currently set torque value, that is, the
value of P6-89. Click [Inc] and [Dec] to increase or decrease the torque command. When increasing the torque
command size, it is recommended to increase it a little to avoid severe vibration of the equipment;
After setting the torque command, long press [Enter] to enter the "ready to enable" stage, and the interface
displays "F.";
Press【ENTER】, enable, displays ‘..run’；
Click [Inc] and [Dec] to carry out forward and reverse rotation and find the resonance frequency. During
operation, the interface flashes' E_FFt’ ', if the resonance frequency is found, the interface will display 'Fxxxx’,
xxxx is the resonance frequency. If the search for the functional frequency fails, the interface will display 'F
----';
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