5.4 Details of Function Codes
5-238
d07
d08
Speed Control 1 (Notch Filter Resonance Frequency)
Related Function Codes: A49, b49, r49 Speed Control 2 to 4 (Notch
Filter Resonance Frequency)
Speed Control 1 (Notch Filter Attenuation Level)
A50, b50, r50 Speed Control 2 to 4 (Notch
Filter Attenuation Level)
The notch filters make it possible to decrease the speed loop gain only in the vicinity of the predetermined
resonance points, suppressing the mechanical resonance.
The notch filters are available only under "vector control with speed sensor."
Setting the speed loop gain at a high level in order to obtain quicker speed response may cause mechanical
resonance.
If it happens, decreasing the speed loop gain is required to slow the speed response as a whole. In such a
case, using the notch filters makes it possible to decrease the speed loop gain only in the vicinity of the
predetermined resonance points and set the speed loop gain at a high level in other resonance points,
enabling a quicker speed response as a whole.
The following four types of notch filters can be set.
Table 5.4-162
Function
Code
Name
Data Setting
Range
Unit
Default
Setting
d07 Speed control 1 (Notch filter resonance frequency) 1 to 200 Hz 200
Notch filter 1
d08 Speed control 1 (Notch filter attenuation level) 0 to 20 dB 0 (Disable)
A49 Speed control 2 (Notch filter resonance frequency) 1 to 200 Hz 200
Notch filter 2
A50 Speed control 2 (Notch filter attenuation level) 0 to 20 dB 0 (Disable)
b49 Speed control 3 (Notch filter resonance frequency) 1 to 200 Hz 200
Notch filter 3
b50 Speed control 3 (Notch filter attenuation level) 0 to 20 dB 0 (Disable)
r49 Speed control 4 (Notch filter resonance frequency) 1 to 200 Hz 200
Notch filter 4
r50 Speed control 4 (Notch filter attenuation level) 0 to 20 dB 0 (Disable)
When "attenuation level" is set to "0" (dB), the corresponding notch filter becomes disabled.
It is possible to apply all of the four notch filters to the 1st motor or apply each notch filter to each of the 1st
to 4th motors.
Table 5.4-163
Notch Filter 1 Notch Filter 2 Notch Filter 3 Notch Filter 4
Setting Condition
d07 and d08 A49 and A50 b49 and b50 r49 and r50
Motor selection (M2, M3, M4) is not used.
(E01 to E09, E98, E99 ≠ 12, 36, 37)
All of "Motor/parameter switching" is
set to parameter switching.
(A42, b42, r42 = 1)
Four types of notch filters are set for the first motor.
Other than the above
To the 1st motor To the 2nd motor To the 3rd motor To the 4th motor
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