Yaskawa FSP Amplifier - Manual (Page 184)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-17
• Kd Filter (Pn1A2), Range 30 to 3200 [0.01 ms], Default 40:
This parameter sets a low pass filter on differential gain, a good starting
value is about Pn103 / 10, where the minimum value is 30 [0.01 ms]. A
low value for this parameter will make noise in high frequency.
Typically, this parameter will have to be increased if load coupling is
flexible, and damping is poor.
• Torque Filter (Pn1A4), Range 0 to 2500 [0.01 ms], Default 20:
This parameter sets a low pass filter on torque command. A good
starting value is about Pn103 / 10, if you use notch filter
(Pn408.0 = 1) (see 6.2.9). It is better not to use torque filter or to use a
small value.
Typically, this parameter will have to be increased if load coupling is
flexible, and damping is poor.
This parameter should be set to a value only slightly higher than the
value at which oscillations disappear. Using an unnecessary high value
will degrade the control quality. Typically, chose the value that allows
the highest value setting of Kd.
• Second Order Torque Filter (Pn1A5), Range 0 to 1000 [0.1%],
Default 0:
This parameter is a part of the second order torque filter. It has good
influence in many cases, even if the first order torque filter is not active.
After tuning Pn1A4, raise this parameter progressively until vibrations
occur. In many systems, values for this parameter will be 500 to 700
(0.1%).
• Command Smoothing (Pn216), Range 0 to 65536 [0.1 ms],
Default 0:
In case of a flexible system, if command acceleration is not applied
progressively, the system will oscillate around the command position
after every discontinuity of the command acceleration (even if the
oscillation is not seen). The command-smoothing smooths the
command acceleration to avoid these oscillations.
Using a command filter will delay the arrival of the command to the
final target position. The value of this filter should be set higher than
the period of self-oscillations, but not too high to keep good settling
time.