Servotronix CDHD2S - Gear Filter

Tuning
—221
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Gear filter - example 1
Increasing GEARFILTT1 will smooth the
input command PTPVCMD,
but it will increase the delay.
Suggested value:
GEARFILTT1=~2 input step width
GEARFILTT2=2GEARFILTT1
8.8 Gear filter
Note ServoStudio2 has not been fully updated.
The gear filter can be used if the system exhibits the following characteristics:
⚫ The resolution of pulse and direction commands is low.
⚫ The coupling between the motor and the load is not strong.
⚫ The movement stroke is short.
⚫ The motor makes noise after tuning.
⚫ The current fluctuates greatly during the settling process.
⚫ The motor temperature is abnormally high.
Before applying the gear filter, make sure GEARINMODE=1
When a system has multiple axes, the gear filter value must be the same for all axes.
Figure 8-22
Table 8-21
T1
GEARFILTT1
Gear filter depth
T2
GEARFILTT2
Gear filter velocity and acceleration depth
ATHRSH
GEARACCTHRESH*
Gear acceleration threshold
VELFF
GEARFILTVELFF*
Gear filter velocity feedforward
AFF
GEARFILTAFF*
Gear filter acceleration feedforward
*Use default value. If necessary, please contact technical
support
Figure 8-23 Gear filter
PE
Load
Current
Command
Position
Command
+
–
Feedback
+
–
Current
Loop
M
Pulse and
Direction
Position
Command
Gearing Filters
d/dt
T2
∑
VELFF
d/dt
AFF
ATHRSH
Servo Drive
PLC
T1
Gearing
Block
Σ
HD Control
Loop
Σ