Tuning D1 Servo Drive User Manual
6-22 HIWIN MIKROSYSTEM CORP.
Figure6.6.1.2 Low-pass filter
(2) 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, user can consider using
notch filter. The setting of notch filter is usually based on the result of frequency analysis, please
refer to section 6.6.3. 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
Figure6.6.1.3 Notch filter
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