JVL MAC050 - Page 55

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 51
2.10 Servo filter adjustment
2.10.5 Adjusting the current filter (only MAC050 to 141-A)
The current filter is adjustable in the MAC050 to MAC141-A models. This feature is use-
ful if the audible noise from the motor needs to be decreased. Please note that the band-
width of the current filter will also be lowered which can cause efficiency at higher speeds
also to be lowered. As shown in the selector box below, it is not recommended to select
the “Low noise” filter if the motor is operated above 3000 RPM (MAC141: 2000 RPM).
A general recommendation is to select the high noise filter since it has the best dynamic
performance.
2.10.6 Adjusting the Position/Velocity filter
The Position/Velocity filter is the main filter which sets up the main response perfor-
mance of the motor.
MAC050, 95, 140 and 141
Current filter selector:
TT1025GB
Velocity/position
filter selector:
TT1026GB
Actual velocity
Follow error
Commanded velocity
Applied torque
Velocity
Fastness:
The relationship between a slow and
a fast filter is seen as the ability to
track the commanded velocity within
time. By choosing a faster filter the
velocity reaches the required velocity
faster.
Hardness:
The follow error is decreased by choosing
a harder filter but the stability is also
decreased.
The 5 levels of hardness will affect the
motor torque in the following manner.
In case of certain follow error the torque
is integrated up to 300% (full torque).
300% motor torque is produced when
these follow errors are present:
Column 1 : Follow error of 8000 counts
Column 2 : Follow error of 2000 counts
Column 3 : Follow error of 500 counts
Column 4 : Follow error of 125 counts
Column 5 : Follow error of 1 count (no error is accepted)
Follow error
/ Torque
Fastness
Hardness
Time
Time
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