Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual - Manual (Page 247)

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 247
Configure the Load Observer Feature Appendix D
3. Verify the change with another sercos IDN Read Message from IDN
P:0:431.
Compensate for High
Frequency Resonances Approximately 15% of all motion applications exhibit a high-frequency
resonance that is apparent by an audible high-frequency squealing of the load
mechanics.
Follow these steps to identify and reduce the presence of high-frequency
resonances.
1. Perform the following move sequence by using Motion Direct
Commands:
a. Enable the axis with an MSO
b. Slowly jog the axis with an MAJ
c. Stop the axis with an MAS
d. Disable the axis with a MSO
2. Determine if an audible high-frequency resonance exists in your motion
application.
• If an audible high frequency resonance is not present during the move
sequence, skip the remaining steps and tuning is complete.
• If an audible high frequency resonance is present during the move
sequence, use an FFT smart phone or tablet application to identify the
dominant resonant frequencies.
TIP The procedure for setting each of the gains is similar.
IMPORTANT Sometimes an audible resonance is heard before the axis is jogged,
making the MAJ and MAS unnecessary.