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How to use Anti-vibration filter
In the following, we show to you how to use the Anti-vibration Filter (AV-filter) at ctrlX DRIVE.
Version used
All the functions and screen shots are based on:
ctrlX Drive Engineering version 1.20
Runtime/Firmware version of drive AXS-V-0308N-NN-03
1. Prerequisites
A connection to the ctrlX DRIVE has been successfully established, the device is correctly wired and 24 V are successfully put on. As well the engineering tool ctrlX DRIVE Engineering has been started.
2. What the function is good for
The Anti-vibration filter (AV-filter) is used
- to suppress mechanical vibrations - to shorten the positioning cycle time if the mechanics is not that stiff
In position-controlled operating modes with cyclic setpoints the AV filter is integrated into the position setpoint path, into the generator cycle (NC clock) before the averaging filter. This delays the effectiveness of the position setpoint inside the controller and the acceleration builds up with reduced jerk.
Mind to not use the function with interpolating axes with high contouring accuracies, as contour shifts may occur with different delay cycles.
3. Enable the firmware function
Right mouse click on Axis node:
Fig.1: Open “Enable firmware function”in ctrlX DRIVE Engineering
Fig. 2: Enable Anti-vibration filter in „Control function“
The “Anti-vibration filter” function itself then needs to be selected and activated by a “Reboot”.
In the screen operation mode selection the filter is shown afterwards.
Fig. 3: Screen for filter setting in “Operation mode selection”
4. Configure parameters
Fig. 4: Structure of filter factor.
The filter is set with 2 parameters:
P-0-0642 AV filter frequency, with frequency = 0 the filter is switched off.
P-0-0643 AV filter attenuation
The filter factors (A1, A2) and the delay cycles (n) for the filter are calculated from these input data.
Mind that the minimum frequency is restricted by the number of filter values.
E.g. with 2ms NC cycle and 125 values: Min. frequency = 2 Hz .
The active delay value is displayed in the parameter:
P-0-0644 AV filter “Delay clocks”.
With drive-controlled operation modes the AV filter can also be changed while the operating mode is active. The operating mode is then set up again internally and the filter is reinitialized.
With NC-controlled positioning, the operating mode must be restarted so that the new values take effect (change AF-AB-AF, S-0-0134 bit 15= 1-0-1).
With drive-controlled operation modes, the operating mode is restarted internally, and the new filter values are then active.
5. Result and benefit
Without AV-filter: P-0-0642= 0
Fig. 5: Filter setting with filter off
Fig. 6 Positioning without AV-Filter
Time to build up acceleration (ta):
ta= a / j
a= 5m/s 2
j= 1000m/s 3
ta= 5ms
Excitation of the mechanical resonance frequency with f= 8.3 Hz
Positioning time <1µm = 429ms
Position failure with approximately +- 20µm
With AV-filter at f=8,3Hz : P-0-0642= 8.3
Fig. 7 Filter setting with filter on
Fig. 8: Positioning with AV-Filter
Reduction of the vibration amplitude depend on the resonance frequency with f=8.3Hz by using the AV filter.
Positioning time <1µm = 379ms
Position failure approximately +- 10µm
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