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6-58
Drive Control
Parameterizing the Band-Stop
Presetting
Determine Resonance
Frequency
Determining Initial State of
Control Behavior
Activate Rejection Filter and
Check Its Effect
The band-stop filters are parameterized via the following parameters:
Filters
• P-0-1120, Velocity control loop filter: filter type
• P-0-1121, Velocity control loop filter: limit frequency of low pass
• P-0-1122, Velocity control loop filter: bandwidth of band-stop
filter
• P-0-1123, Vel. cont. loop filter: center frequency of band-stop
filter
Each of these parameters has 4 elements which results in the following
assignment of the relevant filter settings:
• band-stop filter1: P-0-1120 [0], P-0-1122 [0], P-0-1123 [0]
• band-stop filter2: P-0-1120 [1], P-0-1122 [1], P-0-1123 [1]
• band-stop filter3: P-0-1120 [2], P-0-1122 [2], P-0-1123 [2]
• band-stop filter4: P-0-1120 [3], P-0-1122 [3], P-0-1123 [3]
The following procedure is recommended for setting the band filter:
1. First deactivate rejection filters.
2. Enter the following values in parameter P-0-1120, Velocity control
loop filter: filter type:
• P-0-1120 [0] = 0 →filter 1 switched off
• P-0-1120 [1] = 0 →filter 2 switched off
• P-0-1120 [2] = 0 →filter 3 switched off
• P-0-1120 [3] = 0 →filter 4 switched off
The following procedure is recommended for determining the resonance
frequency:
1. Use the oscilloscope feature of the drive to display the actual velocity
value. This value can be directly read by fast-Fourier transformation
(FFT) of the frequency response. This requires the use of the
"DriveTop" commissioning tool.
2. In reversing duty increase the value in parameter S-0-0100, Velocity
loop proportional gain until distinctive oscillation is noticed
(resonant oscillation).
3. Record the time behavior of the oscillation with the oscilloscope
feature (alternatively with external oscilloscope) and analyze it with
regard to clearly distinctive frequencies. When using the internal
oscilloscope feature, the resonance frequency can be directly read via
the "DriveTop" commissioning tool by means of the frequency display.
4. Set drive enable and optimize the velocity control loop with inactive
rejection filter (see section "Setting the Velocity Loop").
5. Record the step response of the actual velocity value and the torque-
/force-generating command current with small velocity command
value step. The torque-generating command current must not reach
the limit!
6. Enter the most distinctive frequency in Hz in parameter P-0-1123,
Vel. cont. loop filter: center frequency of band-stop filter.
Enter a minimum bandwidth (e.g. 25 Hz) in parameter P-0-1122,
Velocity control loop filter: bandwidth of band-stop filter.
→ Record previous step response again.
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
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