Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 209)

5.9 Compatible Adjustment Function
5-65
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 force reference 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.
„ Force Reference Filter Guide
Use the speed loop gain (Pn100 [Hz]) and the force reference filter time constant (Pn401 [ms]).
Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2 π × Pn100 [Hz] × 1)
∗ Setting the Pn40F to 5000 disables the force reference filter.
Force
reference
before
filtering Force
Reference
Filter
(Pn401)
Force Related
Function Switch
Pn408
Notch filter Notch filter First order lag filter
Force
reference
after
filtering
Second order lag filter
2nd Step
2nd Force
Reference
Filter
(Pn40F,
Pn410)
2nd
Notch
Filter
(Pn40C,
Pn40D and
Pn40E) 1st
Notch
Filter
(Pn409,
Pn40A
and Pn40B)
* The 2nd step 2nd force reference filter is available when Pn40F is set to a value less than
5000 and not available when Pn40F is set to 5000 (factory setting).
*
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 1000 0.01 50 Immediately Tuning
Speed Position Force
Speed Position
Force