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• Use the notch filter to prevent mechanical resonance. This function can be used to raise the speed
loop gain and to shorten positioning time.
• With W
-series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.
Note 1. The filter setting is used to prevent mechanical resonance that cannot be eliminated using
gain adjustment. If the notch filter is not set carefully, the mechanical operation may become
unstable. Therefore, adjust while observing the mechanical operation using a torque com-
mand monitor or other method. Make sure that an emergency stop switch is provided so that
the machine can be stopped immediately.
Note 2. The Q value setting and notch filter 2 are new functions supported by Servo Drivers with soft-
ware version “r.0037.”
H Parameters Requiring Settings
Parameter
No.
Parameter name Explanation Reference
Pn408.0 Torque command
setting
Notch filter 1
function selection
To use the notch filter 1 function, set Pn408.0 to 1
(notch filter 1 ON).
4-4-4
Parameter
Details
Pn409 Notch filter 1
frequency
Set the machine resonance frequency.
Pn40A Notch filter 1 Q
value
Set the Q value for notch filter 1.
Pn408.2 Torque command
setting
Notch filter 2
function selection
To use the notch filter 2 function, set Pn408.2 to 1
(notch filter 2 ON).
Pn40b Notch filter 2
frequency
Set the machine resonance frequency.
Pn40C Notch filter 2 Q
value
Set the Q value for notch filter 2.
Note The Q value is a parameter that determines the characteristics of the notch filter. The smaller the
Q value, the broader the frequency range that lowers the responsiveness. There fore, the respon-
siveness of the current loop other than the resonance frequency is lowered. When the Q value is
high, the frequency that lowers the responsiveness can be concentrated around the resonance
frequency. When the impact from the load and temperature cause the resonance frequency to
fluctuate, however, the notch filter effectiveness drops, so determine the optimum set value while
performing adjustment.
Frequency Frequency
Frequency characteristics when Q = 0.7 (set value = 70) Frequency characteristics when Q = 2.0 (set value = 200)
Torque command
Torque command
Operation Chapter 4
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