7-21
7-5 Manual Tuning
7
Adjustment Functions
Machine Resonance Control
When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus
not allowing the gain to be set high. In this case, the resonance can be suppressed by using the two
filter types.
Torque Command Filter Time Constant (Pn14, Pn1C)
The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be
calculated using the following equation.
Notch Filter
Adaptive Filter (Pn21, Pn2F)
By using the adaptive filter, the Servo Drive can suppress vibration of loads with various resonance
points for each machinery, which conventional notch filters or torque command filters were unable
to cope with. Enable the adaptive filter by selecting
advanced position control (2) for the Control Mode
Selection (Pn02) and setting the
Realtime Autotuning Mode Selection (Pn21) to 1 to 3 or 7.
Notch Filter 1 (Pn1D, Pn1E)
Adjust the notch frequency of the notch filter according to the machine resonance frequency.
Pn No. Parameter name Explanation
21 Realtime Autotuning Mode
Selection
The adaptive filter is enabled when this parameter is set to 1
to 3, or 7.
2F Adaptive Filter Table
Number Display
Displays the table entry number corresponding to the
frequency of the adaptive filter.
*1
The setting of this parameter cannot be changed.
*1. For information on table entry numbers and frequency, refer to Disabling the Adaptive Filter on page
7-14.
Cut-off frequency (Hz) fc =
2πT
1
=
2π × Parameter setting × 10
-5
1
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