E1 Series Servo Drive User Manual Tuning
10-24 HIWIN MIKROSYSTEM CORP.
Table10.6.3.20
Parameter Pt41E Range 50 ~ 1000
Position mode and velocity
mode
Default 70 Effective Immediately Unit 0.01
Description
Fifth notch filter Q value
Table10.6.3.21
Parameter Pt41F Range 0 ~ 1000
Position mode and velocity
mode
Default 0 Effective Immediately Unit 0.001
Description
Fifth notch filter depth
Note
(1) The setting value of notch filter frequency (Pt409, Pt40C, Pt417, Pt41A and Pt41D) must
not be too close to the setting value of velocity loop gain (Pt100). It should be at least four
times larger than the setting value of velocity loop gain (Pt100). Pt103 (Moment of inertia
ratio) must be correctly set. Incorrect setting may cause vibration and damage to machine.
(2) Notch filter frequency (Pt409, Pt40C, Pt417, Pt41A and Pt41D) must be set when the
motor stops. Modifying notch filter frequency while the motor is still operating may cause
vibration.
10.6.4 Vibration suppression
Vibration suppression function can suppress low-frequency vibration (1 Hz~200 Hz) caused by machine
vibration when positioning. It is an effective solution to vibration frequency which cannot be tackled by
notch filter and is especially useful when load is installed on cantilever beam which causes obvious
vibration. The related parameters of vibration suppression function are automatically set when auto tuning
is performed.
Do not change vibration suppression frequency (Pt14A) and vibration suppression compensation (Pt14B)
when the motor is moving, or it may cause unexpected vibration and error.
Do not enable or disable vibration suppression function (Pt140= t.X) when the motor is moving, or it may
cause unexpected vibration and error.
Vibration suppression function can be used when tuneless function is enabled or disabled (Pt170= t.X).
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