7-22
7-5 Manual Tuning
7
Adjustment Functions
Notch
Frequency
Frequency
Anti-resonance
Gain
Gain
Anti-resonance
Frequency
Resonance peak
disappears
Resonance
Machine Characteristics at Resonance
f
Adjust approximately
0.9 f lower
Frequency
Frequency
Anti-resonance
Frequency
Resonance peak
is lowered
Machine Characteristics at Resonance
f
−3 dB
Cut-off frequency
Notch Filter Characteristics
Torque Command Filter Characteristics
Notch Filter Function Torque Command Filter Function
Torque
command
Gain
Frequency
Adaptive filter
Frequency auto-adjustment
Frequency
Response speed
Width
Notch filter
Suppresses a large resonance
point whose frequency
does not change.
Cut-off frequency
3 dB
Torque filter
Torque
command
after
filtering
Reduces all resonance peaks
in the high frequency range.
Example of an Adaptive Machine
A machine with a resonance point
that changes due to individual
differences and age deterioration.
Gain
Frequency
A machine with a resonance point
whose frequency does not change.
Gain
Frequency
A machine with a resonance peak
in a frequency range separated
from the response speed.
Adjusts to a resonance
point and suppresses it
immediately.
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