Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 275)

9 Adjustments
9.4.9 Torque Reference Filter
9-24
9.4.9 Torque Reference Filter
As shown in the following diagram, the torque reference filter contains torque reference filter time constant
(Pn401) and notch filter frequency (Pn409) arrayed in series. The notch filter can be enabled and disabled using
the parameters.
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constant. 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.
(2) Notch Filter
Using the notch filter in accordance with the components of specific vibration frequency such as resonances of
ball screw can eliminate the frequency components to stop the vibration.
Set the machine’s vibration frequency in the parameter of a notch filter to be used.
Torque reference
after filtering
Torque reference
before filtering
Notch
filter
frequency
Pn409
Torque reference
filter time
constant
Pn401
Torque
function
switches
Pn408
Notch filter 1st-order delay filter
Pn401 Torque Reference Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 65,535
(0.00 to 655.35 ms)
0.01 ms 100
(1.00 ms)
Immediately
Speed Position Torque
Parameter Meaning
Pn408 n.†††0 Disables the notch filter.
n.†††1 Enables the notch filter.
Enables the notch filter to be used. (The setting is validated immediately.)
Pn409 Notch Filter Frequency
Setting Range Setting Unit Factory Setting Setting Validation
50 to 2,000 Hz Hz 2,000 Immediately
Speed Position Torque