Yaskawa Sigma II Series Servo System - Manual (Page 239)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 7
The performances of first stage notch filter and newly added second stage notch filter are
identical.
The filtering is executed in the following order.
Fig.1 Torque Reference Filtering
First Stage Notch Filter
Second Stage Notch Filter
Torque Reference Filter
(Low-pass filter)
Torque Limit
Use First Stage Notch Filter.
Use Second Stage Notch Filter
Added
function
NO
NO
YES
YES