Hiwin E1 Series User Manual

E1 Series Servo Drive User Manual Tuning
10-18 HIWIN MIKROSYSTEM CORP.
MD09UE01-1910
 Torque command filter
If machine vibrates, adjust the following parameters to eliminate vibration.
Table10.6.3.1
Parameter Pt401 Range 1~ 65535
Control
Mode
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
Control
Mode
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
Control
Mode
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.

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English