E1 Series Servo Drive User Manual Tuning
10-18 HIWIN MIKROSYSTEM CORP.
Torque command filter
If machine vibrates, adjust the following parameters to eliminate vibration.
Table10.6.3.1
Parameter Pt401 Range 1~ 65535
Position mode, velocity mode
and torque mode
Default 100 Effective Immediately Unit 0.01 ms
Description
First stage first torque command filter time constant
Table10.6.3.2
Parameter Pt40F Range 100 ~ 5000
Position mode and velocity
mode
Default 5000 Effective Immediately Unit 1 Hz
Description
Second stage second torque command filter frequency
Table10.6.3.3
Parameter Pt410 Range 50 ~ 100
Position mode and velocity
mode
Default 50 Effective Immediately Unit 0.01
Description
Second stage second torque command filter Q value
Notch filter
Notch filter removes certain vibration frequency. Gain curve is shown in figure 10.6.3.2. A notch is
created on a certain frequency (notch frequency) to eliminate or reduce resonance point around
notch frequency. To use notch filter, notch filter frequency, notch filter Q value and notch filter depth
must be set. Notch filter Q value and notch filter depth are explained as below.
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