NSK MEGATORQUE M-ESB-YSB2020AB300 - Digital Filter

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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.3. Digital Filter
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.2.3. Digital Filter
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Caution: Use of multiple filters at the same time may cause phase inversion of the
velocity loop control, and make the Motor operation unstable.
！
Caution: Two filters are the maximum. In addition, if low frequency filters are used,
hunting or oscillation may occur. Set the filter frequency 100 [Hz] or
over.
Parameter: FP, FS, NP and NS
l Sets the filters in the velocity loop.
l This is effective in reducing noise caused by resonance and vibrations.
Table 7-20
Parameter Function Shipping set
FP
Sets the frequency of primary low pass filter. FP0
FS
Sets the frequency of secondary low pass filter. FS0
NP
Sets the frequency of primary notch filter. NP0
NS
Sets the frequency of secondary notch filter NS0
l Sets the filter frequency in the velocity loop.
l Refer to “8. Glossary of Command and Parameter” for details.
Figure 7-42
Velocity
command
Velocit
y
loop gain
Velocity data
Velocity loop
integrator
Primar
y
low-pass
filter
Secondar
y
low-pass
filter
Primar
y
notch
filter
+
–
Secondar
y
notch
filter
NSNPFSFPVI
VG