Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 155)

Publication 1784-UM003A-EN-P – June 2003
Naming & Configuring Your Motion Axis 147
Note: During tuning, if the controller detects a high degree of tuning
inertia, the controller enables the Low Pass Output Filter and calculates
and sets a value for Low Pass Output Filter Bandwidth.
Low-pass Output Filter Bandwidth
With Enable Low-pass Output Filter selected, this value sets the bandwidth, in
Hertz, of the servo’s low-pass digital output filter. Use this output filter to filter
out high frequency variation of the servo module output to the drive. All
output from the servo module greater than the Filter Bandwidth setting is
filtered-out, and not sent to the drive.
If the Low-pass Output Filter Bandwidth value is set to zero, the low-pass
output filter is disabled. The lower the Filter Bandwidth value, the greater the
attenuation of these high frequency components of the output signal. Because
the low-pass filter adds lag to the servo loop, which pushes the system towards
instability, decreasing the Filter Bandwidth value usually requires lowering the
Position or Velocity Proportional Gain settings to maintain stability. The
output filter is particularly useful in high inertia applications where resonance
behavior can severely restrict the maximum bandwidth capability of the servo
loop.
Manual Adjust
Click on this button to open the Output tab of the Manual Adjust dialog for
online editing of Torque/Force Scaling, the Notch Filter Frequency, and the
Low-pass Output Filter parameters.
Figure 6.34 Axis Properties - Output Tab for Axis_Servo_Drive