Torque scaling, Enable notch filter, Notch filter – Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual User Manual
Page 154: Enable low-pass output filter
Publication 1784-UM003A-EN-P – June 2003
146 Naming & Configuring Your Motion Axis
Torque Scaling
The Torque Scaling attribute is used to convert the acceleration of the servo
loop into equivalent % rated torque to the motor. This has the effect of
"normalizing" the units of the servo loops gain parameters so that their values
are not affected by variations in feedback resolution, drive scaling, motor and
load inertia, and mechanical gear ratios. The Torque Scaling value is typically
established by the controller’s automatic tuning procedure but the value can be
manually calculated, if necessary, using the following guidelines:
Torque Scaling = 100% Rated Torque / (Acceleration @ 100% Rated
Torque)
For example, if this axis is using position units of motor revolutions (revs),
with 100% rated torque applied to the motor, if the motor accelerates at a rate
of 3000 Revs/Sec2, the Torque Scaling attribute value would be calculated as
shown below:
Torque Scaling = 100% Rated / (3000 RPS2) = 0.0333% Rated/ Revs Per
Second2
Note: If the Torque Scaling value does not reflect the true torque to
acceleration characteristic of the system, the gains also do not reflect the
true performance of the system.
Enable Notch Filter
Select this to enable the drive’s notch filter. De-select this to disable this filter.
Notch Filter
With Enable Notch Filter selected, this value sets the center frequency of the
drive’s digital notch filter. If the Notch Filter value is set to zero, the notch
filter is disabled.
Currently implemented as a 2nd order digital filter with a fixed Q, the Notch
Filter provides approximately 40DB of output attenuation at the Notch Filter
frequency. This output notch filter is particularly useful in attenuating
mechanical resonance phenomena. The output filter is particularly useful in
high inertia applications where mechanical resonance behavior can severely
restrict the maximum bandwidth capability of the servo loop.
Note: This value is not applicable for Ultra3000 drives.
Enable Low-pass Output Filter
Select this to enable the servo’s low-pass digital output filter. De-select this to dis-
able this filter.