Compliance page

Use the settings on the
Compliance
 page to:
  • Configure the torque options for the load motor.
  • Configure the
    Adaptive Tuning Configuration
     mode.
    TIP: To open the Compliance page:
    1. In the
      Controller Organizer
      , expand the
      Motion Groups
       folder, and double-click an axis.
    2. From the
      Axis Properties
       dialog box, in
      Categories
      , click
      Compliance
      .
    Parameter
    Description
    Torque Low Pass Filter Bandwidth
    The break frequency for the second order low pass filter that is applied to the torque reference signal. The value for the torque low pass filter bandwidth must be in the range of 0...10000 Hertz.
    Torque Notch Filter Frequency
    The center frequency of the notch filter that is applied to the torque reference signal. The value for the torque notch filter frequency must be in the range of 0...10000 Hertz. System supports up to 4 torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
    Torque Notch Filter 2 Frequency
    The center frequency of the notch filter applied to the torque reference signal. The value for the torque notch filter frequency must be in the range of 0...10000 Hertz. System supports up to 4 torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
    Torque Notch Filter 3 Frequency
    The center frequency of the notch filter applied to the torque reference signal. The value for the torque notch filter frequency must be in the range of 0...10000 Hertz. System supports up to 4 torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
    Torque Notch Filter 4 Frequency
    The center frequency of the notch filter applied to the torque reference signal. The value for the torque notch filter frequency must be in the range of 0...10000 Hertz. System supports up to 4 torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
    Adaptive Tuning Configuration
    The adaptive tuning function periodically collects axis torque data and analyzes the data, identifies resonances, and sets the notch filter frequency during runtime.
    The modes for the Adaptive Tuning Configuration include:
    • Disabled
       - the configured values for all servo loop attributes of the associated axis are applied without the Adaptive Tuning function.
    • Notch Filter Tuning
       - the Torque Notch Filter Frequency Estimate attribute value is applied to the Torque Notch Filter Bandwidth of the associated axis. The other servo loop attributes are applied without the Adaptive Tuning function.
    • Gain Stabilization
       - the servo loop values are scaled by the adaptive tuning gain scaling factor and the Torque Low Pass Filter Bandwidth.
    • Notch Filter Tuning and Gain Stabilization
       - the Torque Notch Filter Frequency Estimate attribute value is applied to the Torque Notch Filter. The servo loop gain attributes are scaled by the Adaptive Tune Gain Scaling Factor and the Torque Low Pass Filter Bandwidth Estimate is applied to the Torque Low Pass Filter Bandwidth.
    Torque Notch Filter
    The number of Torque Notch Filters.
    Torque Notch Filter High Frequency Limit
    The high frequency limit for vibration suppression. The value must be greater than the Torque Notch Filter Low Frequency Limit value.
    The default Torque Notch Filter High Frequency limit is 1000 Hertz.
    Torque Notch Filter Low Frequency Limit
    The low frequency limit for vibration suppression. The value must be less than the Torque Notch Filter High Frequency Limit value.
    The default Torque Notch Filter Low Frequency limit is 100 hertz.
    Torque Notch Filter Tuning Threshold
    The threshold value for the resonance frequency identified by the tuning algorithm. The magnitude of an identified natural resonance frequency must be higher than this threshold value to be applied to the Torque Notch Filter Frequency estimate.
    The default value is 5.0 % Motor Rated.
    Command Notch Filter Frequency
    Controls the center frequency of the notch filter that is applied to the position, velocity, and acceleration command signals. System supports up to 2 command notch filter instances connected in series. A value of 0 for this attribute disables this feature.
    Command Notch Filter 2 Frequency
    Controls the center frequency of the notch filter that is applied to the position, velocity, and acceleration command signals. System supports up to 2 command notch filter instances connected in series. A value of 0 for this attribute disables this feature.
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