HarmonicCancellation2Type Parameter

Default Value: 0

Minimum Value: 0

Maximum Value: 1

Units: None

Type: int

Optional Purchase Necessary: This parameter is available only if you purchased the Dynamic Controls Toolbox option.

HARDWARE: Harmonic Cancellation does not apply when used with the GI4, the GL4, the SI4, or the XL4s.

Before you use this parameter, you must enable the HarmonicCancellationSetup Parameter.

Use the HarmonicCancellation2Type parameter to configure the input to the Harmonic Cancellation algorithm as derived from a constant frequency or derived from a position.

When you set this parameter to Frequency, the input to the algorithm is a constant frequency determined by the value of the HarmonicCancellation2Period Parameter. Use this option to reject disturbances that are always of a specific frequency. An example of this is an axis that is commanded to move in a specific, cyclic pattern.

When you set this parameter to Position, the input to the algorithm is derived from the position information determined by the value of the HarmonicCancellation2Input Parameter. Use this option to reject disturbances that change frequency based on the speed of the motion. An example of this is an unbalanced load on a rotary axis.

To configure this parameter in Automation1 Studio, open the Configure Workspace. In the Axes category, select the Optimization topic and find the Harmonic Cancellation module.