9 torque reference filter, 1) torque reference filter, 9 torque reference filter -46 – Yaskawa SGDS Sigma III Servo Amplifier User Manual

Page 273

8 Adjustments

8.6.9 Torque Reference Filter

8-46

8.6.9 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains three torque reference filters and two
notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and
disabled with the parameters.

(1) Torque Reference Filter

If you suspect that machine vibration is being caused by the servodrive, try adjusting the 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.

Note: 1. The setting units for the 3rd step torque reference filter are different from the units for the 1st and

2nd step filters.

2. The 2nd step 2nd torque reference filter is disabled when parameter Pn40F (2nd step 2nd torque

reference filter frequency) is set to 2,000 Hz (factory setting).

3rd Step

Torque

Reference

Filter

Pn411

Torque reference
after filternng

2nd Step

2nd Torque

Reference

Filter

Pn40F
Pn410

1st Step

Notch

Filter

Pn409

Pn40A

Pn408

Torque Relqted

Function Switch

2nd Step

Notch

Filter

Pn40C
Pn40D

Notch Filter

1st-order
Delay Filter

2st-order
Delay Filter

Torque reference
before filtering

1st Step

1st Torque
Reference

Filter

Pn401

Pn401

1st Step 1st Torque Reference Filter

Setting Range

Setting Unit

Factory Setting

Setting Validation

0.00 to 655.35 ms

0.01 ms

1.00 ms

Immediately

Pn40F

2nd Step 2nd Torque Reference Filter Frequency

Setting Range

Setting Unit

Factory Setting

Setting Validation

100 to 2,000 Hz

1 Hz

2,000 Hz

Immediately

Pn410

2nd Step 2nd Torque Reference Filter Q Value

Setting Range

Setting Unit

Factory Setting

Setting Validation

0.50 to 10.00 Hz

0.01

0.70

Immediately

Pn411

3rd Step Torque Reference Filter

Setting Range

Setting Unit

Factory Setting

Setting Validation

0 to 65,535

µs

Immediately

Speed

Position

Torque

Speed

Position

Torque

Speed

Position

Torque

Speed

Position

Torque