10.3 Additional Functions
10-13
10
(1) Notch Filter Function
The notch filter function decreases the response to the set frequency, and effective when there are machine vibra-
tions. Adjusting the parameter setting according to the machine vibration frequency reduces the machine vibra-
tion.
(2) Torque Reference Filtering and Frequency Characteristics
The torque reference filtering and frequency characteristics are shown in the following diagrams.
Note: The frequency characteristics shown above indicate that no response of the speed proportional gain can be
obtained if the difference between the speed proportional gain and the vibration frequency is too small.
•
Setting smaller Q value decreases the response in wider zone around the set frequency.
•
Setting bigger Q value decreases the response in the limited zone at about the set frequency.
(3) Related Parameters
(a) Switch
Notch filtering
(fc = 1/∆t)
Torque
reference
waveform
Torque
reference
waveform
Frequency
Frequency
Frequency Characteristics When Q is set to 0.7.
Frequency Characteristics When Q is set to 2.0.
× s ω
c
2
s
2
+
ω
c
2
ω
c
2
s
2
+
Q
(ω
c
= 2πfc)
After torque
reference filtering
Before torque
reference filtering
fc fc
Torque
reference
Torque
reference
Parameter Meaning
Pn408 n.0 First notch filter disabled
n.1 Use first notch filter.
n.0 Second notch filter disabled
n.1 Use second notch filter.
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