Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 274)

8.6 Servo Gain Adjustment Functions
8-47
(2) Notch Filter
The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw
axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency
components near the notch frequency can be eliminated with this characteristic. A higher notch filter Q value
produces a sharper notch and phase delay.
Set the machine’s vibration frequency in the parameter of a notch filter that is being used.
When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the
overshooting is corrected.
Q value = 0.5 Q value = 1.0
Notch filter
Notch filter
Gain
(db)
Frequency (Hz)
-300
-200
-100
0
100
2
10 10
3 10 4
2
10 10
3 10 4
Phase
Frequency (Hz)
-400
-300
-200
-100
0
(deg)
-300
-200
-100
0
100
2
10 10
3
10
4
2
10 10
3
10
4
-400
-300
-200
-100
0
Notch filter
Gain
(db)
Frequency (Hz)
Notch filter
Phase
(deg)
Frequency (Hz)
Parameter Meaning
Pn408 n. 0 First stage notch filter disabled.
n. 1 First stage notch filter is used.
n. 0 Second stage notch filter disabled.
n. 1 Second stage notch filter is used.
Used notch filters are enabled. (It isn’t necessary to turn the power OFF and ON again.)
Pn409 1st Step Notch Filter Frequency
Setting Range Setting Unit Factory Setting Setting Validation
50 to 2,000 Hz 1 Hz 2,000 Hz Immediately
Pn40C 2nd Step Notch Filter Frequency
Setting Range Setting Unit Factory Setting Setting Validation
50 to 2,000 Hz 1 Hz 2,000 Hz Immediately
Speed Position Torque
Speed Position Torque
Pn40A 1st Step Notch Filter Q Value
Setting Range Setting Unit Factory Setting Setting Validation
0.50 to 10.00 0.01 0.70 Immediately
Speed Position Torque