(applies to Speed Control, Position Control and Torque Control)
Second Stage Second Torque Reference Filter Q Value
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn410 50 to 100 0.01 50 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
* The filter is disabled if you set the parameter to 5,000.
n Notch Filters
The notch filter can eliminate specific frequency elements generated by the vibration
of sources such as resonance of the shaft of a ball screw.
The notch filter puts a notch in the gain curve at the specific vibration frequency
(called the notch frequency). The frequency components near the notch frequency
can be reduced or removed with a notch filter.
Notch filters are set with three parameters for the notch filter frequency, notch filter Q
value, and notch filter depth. This section describes the notch filter Q value and notch
filter depth.
Notch filter Q Value
The setting of the notch filter Q value determines the width of the frequencies that are fil-
tered for the notch filter frequency. The width of the notch changes with the notch filter Q
value. The larger the notch filter Q value is, the steeper the notch is and the narrower the
width of frequencies that are filtered is.
The notch filter frequency characteristics for different notch filter Q values are shown
below.
0
-5
-10
-20
-15
Q = 0.7
Q = 1.0
Attenuation [dB]
Q = 0.5
Frequency [Hz]
Fig. 302: Notch Filter Frequency Characteristics - Filter Q Values
The above notch filter frequency characteristics are based on calculated
values and may be different from actual characteristics.
Notch Filter Depth
The setting of the notch filter depth determines the depth of the frequencies that are fil-
tered for the notch filter frequency. The depth of the notch changes with the notch filter
depth. The smaller the notch filter depth is, the deeper the notch is, increasing the effect
of vibration suppression. However, if the value is too small, vibration can actually
increase.
The notch filter is disabled if the notch filter depth, d, is set to 1.0 (i.e., if Pn419 is set to
1,000).
The notch filter frequency characteristics for different notch filter depths are shown below.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 410
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