D1-N Series Servo Drive User Manual Tuning
6-22 HIWIN MIKROSYSTEM Corp.
Figure 6.6.1.2 Low-pass filter
Notch filter
When resonance frequency (For instance, resonance frequency between 10 to 250 Hz.) occurs and
cannot be fixed by modification of mechanism or improvement of design, users can consider using
notch filter. The setting of notch filter is usually based on the result of frequency analysis, please
refer to chapter 10. For how to set a notch filter, please refer to below.
(1) fr: Cutoff frequency (Unit: Hz)
(2) xi: Damping ratio (Setting range: 0 to 1)
When the value is closer to 0, the filtering frequency band is narrower. When the value is closer
to 1, the filtering frequency band is wider.
(3) k1: 0
(4) k2: 1
Figure 6.6.1.3 Notch filter
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