145
P2-69 = n.1000 P2-77 = 328
Note: In both adaptive and auto-tuning modes, if mechanical characteristic analysis is used, the notch
can be set manually. If there are multiple resonance points, the third to fifth notch can be configured in
turn.
6.7.5 Vibration suppression (manual setting)
If the resonance frequency of the mechanical system is known, the vibration can be eliminated by
setting the vibration frequency manually. Please configure the third to fifth notches. The related
parameters are detailed in 6.7.7 notch filter.
6.7.6 Vibration suppression (quick FFT)
This function can analyze the mechanical characteristics through the parameter F0-12 on the servo
operate panel, find out the mechanical resonance frequency and realize the vibration suppression.
The complete operation process is shown in the figure below:
Long press
ENTER
Press
ENTER
Press INC/DEC
Long press
ENTER
Press
ENTER
Find frequency
successful
Long press ENTER
Write in successful
Wait for enable
Set torque
Enable status
The operation steps are described as follows:
1. F0-12, long press【ENTER】to enter quick FFT function, it will show “E_FFt”.
2. Press 【ENTER】 to enter torque setting interface, it will show the current setting torque, which
is the value of P6-89. Press【INC】,【DEC】to increase or decrease torque command. When
increasing the torque command, it is recommended to increase it a little bit to avoid severe
vibration of the equipment.
3. After setting the torque command, long press【ENTER】, enter “read to enable” status, it will
show ‘F”.
4. Press【ENTER】, enable, it will show “..run”.
5. Press【INC】,【DEC】 to run forward or reverse and find the resonance frequency. “E_FFt” will
shining on the panel when operation. If the resonance frequency is found, it will show “Fxxxx”,
“xxxx” is the resonance frequency. If failed, it will show “F----”.
6. Whatever it shown “Fxxxx” or “F----”, press【INC】,【DEC】 can find the resonance frequency
again. If the resonance frequency is found, long press【ENTER】to set the resonance frequency in
the notch filter of servo driver.
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