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Parameters

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ASDA-A3

 Z: fixed resonance suppression parameter

In auto resonance suppression mode, you can set the resonance suppression parameters

manually by setting P2.047.Z.

Bit 3 2 1 0

Bit

1 to 3

Function

Notch 5 auto / manual setting

Reserved

Description

0: auto resonance suppression

1: manually set the fifth set of resonance suppression

parameters

Example: if P2.047 = 0x0021, the auto resonance suppression function is enabled, and the servo

searches for the point of resonance and suppresses it. When you set Y to 2, you manually set the

second set of resonance suppression parameters. Then, if the servo finds 2 resonance points, it writes

the data of the 1st point to the 1st set of resonance suppression parameters and the data of the 2nd point

to the 3rd set of resonance suppression parameters. That is, it skips the 2nd set of parameters.

P2.048

Auto resonance detection level

Default: 100

Unit: -

Format: DEC

Address: 0260H

0261H

Control mode: All

Setting range: 0 to 1000

Data size: 16-bit

Settings:

If P2.048 is larger, the resonance sensitivity is lower; on the other hand, if P2.048 is smaller, the

resonance sensitivity is higher.

P2.049

Speed detection filter and jitter suppression

Operation

interface:

Panel

software

Communication

Default: 1.0

Control mode: All

Data size: 16-bit

Unit: 1 ms

0.1 ms

Setting range: 0.0 to 100.0

0 to 1000

Format: One decimal

DEC

Example: 1.5 = 1.5 ms

15 = 1.5 ms

Address: 0262H

0263H

Settings:

Sets the filter for speed estimation. Adjusting this parameter can improve the extent of the speed jitter,

but when the value is too high, the phase margin affecting the speed loop decreases, and thus makes

the system unstable.

8-110

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