Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 213)

5.9 Compatible Adjustment Function
5-63
5
Adjustments
5.9.3 Force Reference Filter
As shown in the following diagram, the force reference filter contains first order lag filter and notch filters
arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the
Pn408.
(1) Force Reference Filter
If you suspect that machine vibration is being caused by the servo drive, try adjusting the filter time constants
with Pn401. This may stop the vibration. The lower the value, the better the response will be, but there may be
a limit that depends on the machine conditions.
Force Reference Filter Setting Guide
Use the speed loop gain (Pn100 [Hz]) and the force filter time constant (Pn401 [ms]) to set the force reference
filter.
Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2 π × Pn100 [Hz] × 1)
∗ The filter is disabled if 5000 is set.
Force
reference
before
filtering
Force Related
Function Switch
Pn408
Notch filter Notch filter First order lag filter
Force
reference
after
filtering
Second order lag filter
2nd
Notch
Filter
(Pn40C,
Pn40D, and
Pn40E) 1st Notch
Filter
(Pn409,
Pn40A,
and Pn40B)
* The 2nd force reference filter is enabled when Pn40F is set to a value less than
5000 and disabled when Pn40F is set to 5000 (factory setting).
*
Force
Reference
Filter
(Pn401)
2nd Force
Reference
Filter
(Pn40F,
Pn410)
Linear
Pn401
Force Reference Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
Speed Position Force
Pn40F
2nd Step 2nd Force Reference Filter
Frequency
Classification
Setting Range Setting Unit Factory Setting When Enabled
100 to 5000 1 Hz 5000* Immediately Tuning
Pn410
2nd Step 2nd Force Reference Filter Q
Value
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 100 0.01 50 Immediately Tuning
Speed Position Force
Speed Position Force