9 torque reference filter, 1) torque reference filter, 9 torque reference filter -46 – Yaskawa SGDS Sigma III Servo Amplifier User Manual
Page 273
8 Adjustments
8.6.9 Torque Reference Filter
8-46
8.6.9 Torque Reference Filter
As shown in the following diagram, the torque reference filter contains three torque reference filters and two
notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and
disabled with the parameters.
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constants.
This may stop the vibration. The lower the value, the better the speed control response will be, but there is a
lower limit that depends on the machine conditions.
Note: 1. The setting units for the 3rd step torque reference filter are different from the units for the 1st and
2nd step filters.
2. The 2nd step 2nd torque reference filter is disabled when parameter Pn40F (2nd step 2nd torque
reference filter frequency) is set to 2,000 Hz (factory setting).
3rd Step
Torque
Reference
Filter
Pn411
Torque reference
after filternng
2nd Step
2nd Torque
Reference
Filter
Pn40F
Pn410
1st Step
Notch
Filter
Pn409
Pn40A
Pn408
Torque Relqted
Function Switch
2nd Step
Notch
Filter
Pn40C
Pn40D
Notch Filter
Notch Filter
1st-order
Delay Filter
1st-order
Delay Filter
2st-order
Delay Filter
Torque reference
before filtering
1st Step
1st Torque
Reference
Filter
Pn401
Pn401
1st Step 1st Torque Reference Filter
Setting Range
Setting Unit
Factory Setting
Setting Validation
0.00 to 655.35 ms
0.01 ms
1.00 ms
Immediately
Pn40F
2nd Step 2nd Torque Reference Filter Frequency
Setting Range
Setting Unit
Factory Setting
Setting Validation
100 to 2,000 Hz
1 Hz
2,000 Hz
Immediately
Pn410
2nd Step 2nd Torque Reference Filter Q Value
Setting Range
Setting Unit
Factory Setting
Setting Validation
0.50 to 10.00 Hz
0.01
0.70
Immediately
Pn411
3rd Step Torque Reference Filter
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
µs
1
µs
0
µs
Immediately
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque