Tuning D1 Servo Drive User Manual
6-42 HIWIN MIKROSYSTEM CORP.
6.7.3.1 Low-pass filter
Low-pass filter in control loop is used to suppress high-frequency noise or machine vibration. Figure
6.7.3.1.1 shows the Bode plot of low-pass filter. Modify the parameters of filter (fr and xi) to simulate how
the filter affects the frequency response of control system.
(1) fr: fr is the cutoff frequency (Unit: Hz). For normal application, user can set cutoff frequency to 500
Hz. For other application, user can consider decreasing the value of cutoff frequency. If the cutoff
frequency is set to be too low, it may affect the controlling performance.
(2) xi: Damping ratio (Setting range: 0 to 1)
(3) k1: Low-pass filter = 0
(4) k2: Low-pass filter = 0
Figure6.7.3.1.1 Low -pass filter
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