Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03

From 68.1 to 69.1 From 83.4 to 83.5

From version 69.1

edited by Mora Zhou
on 2024/07/17 12:00

Change comment: There is no comment for this version

To version 83.4

edited by Iris
on 2025/07/24 11:03

Change comment: There is no comment for this version

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@@ -1,1 +1,1 @@
--XWiki.Mora
++XWiki.Iris

Content

@@ -8,7 +8,7 @@
  [[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
  )))
--The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
++The servo gains are composed of multiple parameter sets, including position loop gain, speed loop gain, filter coefficients, and load inertia ratio. These gains affect each other, requiring balanced adjustment of all parameter values during servo tuning."
  (% class="box infomessage" %)
  (((
@@ -19,9 +19,12 @@
  |=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
  |(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
  |(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
--|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
++|(% rowspan="3" style="text-align:center; vertical-align:middle" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
  |(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
--|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
++|(% style="text-align:center; vertical-align:middle" %)Model tracking control|Enable model tracking control, shortening the responding time and improving followability.|(% style="text-align:center; vertical-align:middle" %)7.3.4
++|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
++|Low frequency vibration suppression|Enable low frequency vibration suppression|7.4.3
++|Type A vibration suppression|Enable type A vibration suppression|7.4.4
  Table 7-1 Description of gain adjustment process
@@ -118,8 +118,12 @@
  (% class="table-bordered" style="margin-right:auto" %)
  (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
--|(% style="text-align:left; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
++|(% style="text-align:left; vertical-align:middle" %)(((
++Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
++**VD2L drive does not support automatic gain adjustment!**
++)))
++
  The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference.
  (% class="table-bordered" %)
@@ -161,9 +161,11 @@
  )))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:87px" %)0|(% style="text-align:center; vertical-align:middle; width:83px" %)0 to 2|(% style="width:431px" %)(((
--* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
--* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
--* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
++0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
++
++1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
++
++2: Online automatic parameter self-adjusting mode (Not implemented yet)
  )))|(% style="text-align:center; vertical-align:middle" %)-
  Table 7-4 Details of self-adjusting mode selection parameters
@@ -300,12 +300,12 @@
  **Setting method**
  )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
  **Effective time**
--)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
++)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)Range|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
  |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
++)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
  Table 7-8 Details of torque filter time constant parameters
@@ -644,7 +644,7 @@
  **Notch filter**
--The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-3__.
++The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-11__.
  == Notch filter ==
@@ -663,12 +663,12 @@
  The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
--When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-4__.
++When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-12__.
  (% style="text-align:center" %)
  (((
  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
++[[Figure 7-11 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
  )))
@@ -675,7 +675,7 @@
  (% style="text-align:center" %)
  (((
  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
++[[Figure 7-12 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
  )))
@@ -695,8 +695,9 @@
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
--1. 0: all truncated
--1. 100: all passed
++0: all truncated
++
++100: all passed
  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
  |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-07|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
  Operation setting
@@ -703,10 +703,13 @@
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
--1. 0: 0.5 times the bandwidth
--1. 4: 1 times the bandwidth
--1. 8: 2 times the bandwidth
--1. 12: 4 times the bandwidth
++0: 0.5 times the bandwidth
++
++4: 1 times the bandwidth
++
++8: 2 times the bandwidth
++
++12: 4 times the bandwidth
  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
  |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-08|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
  Operation setting
@@ -718,8 +718,9 @@
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
--1. 0: all truncated
--1. 100: all passed
++0: all truncated
++
++100: all passed
  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
  |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-10|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
  Operation setting
@@ -726,10 +726,13 @@
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
--1. 0: 0.5 times the bandwidth
--1. 4: 1 times the bandwidth
--1. 8: 2 times the bandwidth
--1. 12: 4 times the bandwidth
++0: 0.5 times the bandwidth
++
++4: 1 times the bandwidth
++
++8: 2 times the bandwidth
++
++12: 4 times the bandwidth
  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
  Table 7-11 Notch filter function code parameters
@@ -738,6 +738,8 @@
  Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
++**VD2L drive does not support low frequency vibrartion suppression.**
++
  (% style="text-align:center" %)
  (((
  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
@@ -749,22 +749,34 @@
  )))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
  **Effective time**
  )))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 116px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 462px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)**Unit**
--|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)0|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1|(% style="width:462px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:115px" %)
--|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)800|(% style="text-align:center; vertical-align:middle; width:116px" %)10 to 2000|(% style="width:462px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:115px" %)0.1HZ
--|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)100|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1000|(% style="width:462px" %)When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.|(% style="text-align:center; vertical-align:middle; width:115px" %)0.001
++☆: Indicates that VD2F servo drive does not support this function code
++
++〇: Indicates that VD2L servo drive does not support this function code
++
++★: Indicates that VD2F and VD2L servo drives do not support this function code
++
  **Vibration frequency detection:**
  * Users can measure vibration by measuring equipment such as laser displacement．
@@ -786,6 +786,8 @@
  Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
++**VD2L drive does not support type A vibration suppression.**
++
  (% style="text-align:center" %)
  (((
  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
@@ -797,32 +797,48 @@
  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
  **Effective time**
  )))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 183px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 501px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px" %)**Unit**
--|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1|(% style="width:501px" %)When the function code is set to 1, enable the type A suppression function.|
--|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:183px" %)100 to 20000|(% style="width:501px" %)Set the frequency of Type A suppression.|(% style="text-align:center; vertical-align:middle" %)0.1HZ
--|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1000|(% style="width:501px" %)Correct the load inertia ratio size.|(% style="text-align:center; vertical-align:middle" %)0.01
--|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 500|(% style="width:501px" %)The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|(% style="text-align:center; vertical-align:middle" %)0.01
--|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
++|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
++〇
++)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
  Effective immediately
  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)200|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 900|(% style="width:501px" %)Type A suppression phase compensation.|(% style="text-align:center; vertical-align:middle" %)0.1 degree
++☆: Indicates that VD2F servo drive does not support this function code
++
++〇: Indicates that VD2L servo drive does not support this function code
++
++★: Indicates that VD2F and VD2L servo drives do not support this function code
++
  **Vibration frequency detection:**
  The vibration frequency can directly obtain the value of the current vibration frequency from the software oscilloscope vibration frequency, combined with real-time speed waveform to observe the current vibration situation.
@@ -838,4 +838,4 @@
  (% class="table-bordered" style="margin-right:auto" %)
  (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]]
--|(% style="text-align:left; vertical-align:middle" %)Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
++|(% style="text-align:left; vertical-align:middle" %)**Note:** If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!

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