{"id":3215,"date":"2025-07-14T13:46:43","date_gmt":"2025-07-14T13:46:43","guid":{"rendered":"https:\/\/www.woojin.help\/?p=3215"},"modified":"2025-07-14T13:46:45","modified_gmt":"2025-07-14T13:46:45","slug":"%e2%9a%99%ef%b8%8f-keba-d3-drive-tuning-noise-issue-and-encoder-offset-resolution","status":"publish","type":"post","link":"https:\/\/www.woojin.help\/ko\/%e2%9a%99%ef%b8%8f-keba-d3-drive-tuning-noise-issue-and-encoder-offset-resolution\/","title":{"rendered":"\u2699\ufe0f KEBA D3 Drive Tuning: Noise Issue and Encoder Offset Resolution"},"content":{"rendered":"<div class=\"pdfprnt-buttons pdfprnt-buttons-post pdfprnt-top-right\"><\/div>\n<p class=\"wp-block-paragraph\"><strong>Date<\/strong>: July 14, 2025<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\uc791\uac00<\/strong>: Woojin Control Team<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ud83d\udd0a<\/strong><strong> 1. Noise at Metering Motor \u2013 TE220A5 Case<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">During commissioning of the <strong>TE220A5<\/strong> injection molding machine, noise was observed from the <strong>metering motor<\/strong> when the motor was turned ON.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ud83d\udd0d<\/strong><strong> Root Cause<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>The motor uses a <strong>Resolver-type encoder<\/strong>.<\/li>\n\n\n\n<li>\uadf8\ub9cc\ud07c <strong>Speed Filter Time Constant<\/strong> was set too short (too reactive).<\/li>\n\n\n\n<li>As a result, the motor continuously performed micro speed adjustments even while stopped, trying to follow the reference position \u2192 causing audible noise.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u2705<\/strong><strong> Resolution<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>We changed the <strong>Speed Filter time constant<\/strong> to <strong>2 ms<\/strong>.<\/li>\n\n\n\n<li>This significantly reduced the noise.<\/li>\n\n\n\n<li>The update was also applied to other motors using Resolver-type encoders in similar axes.<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1024\" height=\"563\" src=\"https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-1024x563.png\" alt=\"\" class=\"wp-image-3217\" srcset=\"https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-1024x563.png 1024w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-300x165.png 300w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-768x422.png 768w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-18x10.png 18w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25-1320x725.png 1320w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-25.png 1443w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ud83e\udde9<\/strong><strong> 2. Encoder Offset Issue on Injection Axis \u2013 TE170A5_<\/strong><strong>superform<\/strong><strong> Case<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8\ub9cc\ud07c <strong>TE170A5_<\/strong><strong>superform<\/strong> machine was designed as a <strong>foam injection model<\/strong>, and failed to perform encoder offset detection on the <strong>injection axis<\/strong>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ud83d\udd0d<\/strong><strong> Root Cause<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>The motor used on the injection axis was <strong>different<\/strong> from standard models \u2013 it included a <strong>brake<\/strong>.<\/li>\n\n\n\n<li>However, <strong>brake usage was not configured in the drive settings<\/strong>, causing issues during offset detection.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u2705<\/strong><strong> Resolution<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>The drive was reconfigured to <strong>recognize the brake presence<\/strong>.<\/li>\n\n\n\n<li>After that, encoder offset detection was successful.<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"907\" height=\"473\" src=\"https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-24.png\" alt=\"\" class=\"wp-image-3216\" srcset=\"https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-24.png 907w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-24-300x156.png 300w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-24-768x401.png 768w, https:\/\/www.woojin.help\/wp-content\/uploads\/2025\/07\/image-24-18x9.png 18w\" sizes=\"(max-width: 907px) 100vw, 907px\" \/><\/figure>","protected":false},"excerpt":{"rendered":"<p>Date: July 14, 2025 Author: Woojin Control Team \ud83d\udd0a 1. Noise at Metering Motor \u2013 TE220A5 Case During commissioning of [&hellip;]<\/p>\n","protected":false},"author":17,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[392,395,404],"tags":[550,558,557,556,555,554,553,551,549,448,548,547,546,545,544,540,521],"class_list":["post-3215","post","type-post","status-publish","format-standard","hentry","category-drive","category-keba","category-keba-documentation","tag-position-reference","tag-current-or-torque-control","tag-time-constant","tag-injection-axis","tag-brake-motor","tag-gain-adaptation-constantly","tag-noise-reduction","tag-drive-configuration","tag-resolver-encoder","tag-te220a5-2","tag-encoder-offset","tag-2-ms","tag-tf","tag-metering-motor","tag-speed-filter","tag-automatic-inertia-detection","tag-keba-d3"],"_links":{"self":[{"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/posts\/3215","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/users\/17"}],"replies":[{"embeddable":true,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/comments?post=3215"}],"version-history":[{"count":1,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/posts\/3215\/revisions"}],"predecessor-version":[{"id":3218,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/posts\/3215\/revisions\/3218"}],"wp:attachment":[{"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/media?parent=3215"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/categories?post=3215"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.woojin.help\/ko\/wp-json\/wp\/v2\/tags?post=3215"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}