Parker Hannifin 88-021610-01G - Manual (Page 120)

Parker Hannifin
120 Aries User Guide
Figure 44 Notch Filter Topology
The graphs below illustrate the transfer function for the magnitude and phase
of the notch filter command output torque/force vs. the notch filter command
input torque/force. In this example, the notch depths are set to .3, .6, and .9
(DNOTAD.3, DNOTAD.6, DNOTAD.9). The notch center frequency is set to
200 Hz (DNOTAF2ØØ) and the “Q” is set to 1 (DNOTAQ1).
Figure 45 Notch Filter Magnitudes
These filters operate in all DMODE settings except Autorun (DMODE1).
DNOTAF Notch Filter A Frequency
Type Tuning Product Rev
Syntax DNOTAF Aries 2.0
Units i = Hz
Range Ø (disable), or 6Ш-1ШШШ
Default Ø (filter is disabled)
Response DNOTAF: *DNOTAF2ØØ
See Also DNOTAD , DNOTAQ , DNOTBD , DNOTBF , DNOTBQ,
DNOTLD , DNOTLG
The DNOTAF command sets the center frequency for the commanded
torque/force notch filter A. Setting this to 0 disables the filter. If setting a
value results in an internal calculation error, the last valid value is used, and
TE15 is set.
There are two cascaded notch filters labeled “A” and “B”. Both filters operate
in exactly the same way. The graphs below illustrate the transfer function
(magnitude and phase) of the internal commanded torque/force vs. the user
commanded torque/force. In this example, the notch frequency is set to 150
Hz (DNOTAF15Ø) and the “Q” is set to 1 (DNOTAQ1).