D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 166
Fig. 6-24 Filter
(1) Low pass filter
The setting of typical low pass filter is given as follows:
○1 fr: The cutoff frequency of filter. The unit is Hz. For general applications, a good effect
can be achieved at the setting of 500 Hz. Other cases can be considered to
decrease this value. However, the control performance will be reduced if the cutoff
frequency is too small.
○2 xi: The damping ratio of filter. Its value ranges from 0 to 1.
○3 k1: 0.
○4 k2: 0.
Fig. 6-25 Low pass filter
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