FATEK SD3 Series, Instruction Manual, Page: 328 / 396

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SD3 Series Instruction Manual
7. Tuning
3. Tuning Parameters
Optimizing the settling time and deviation Suppressing vibration
and noise
Check the following before using Position command filter
・The command from the host controller is correct�
・ The equipment is installed firmly and properly�
・The gain parameters such as inertia ratio are correctly set�
・The command smoothing filters 2 (and 1) are set�
・Vibration is now unlikely to occur thanks to the decreased integral gain�
3. Position Command Filter
Filter Overview Refer to
Smoothing
Position Command Smoothing Filter
Effective in smoothing the position command and suppressing vibration
at the time of positioning �
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Filter Overview Refer to
Notch
Position Command Notch filter
Effective in suppressing vibration of mechanical systems where the
vibration does not appear in the torque output waveform�
When compared to the command smoothing filter, the position command
filter is more effective in reducing the absolute position deviation (Status
No�80)�
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γ-Notch
Position Command γ-Notch Filter
Effective in suppressing vibration of mechanical systems where the
vibration does not appear in the torque output waveform�
This filter has flexibility of changing the gain setting in the range higher
than notch frequencies� This item will reduce the position deviation
impacted by use of notch filer�
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Apply the following notch filters if the machine end point is still vibrating after sufficient tuning was performed
and the smoothing filter was set �
Up to four levels of Position command filter are available�
Block Diagram of Position Command Filter (Details)
Position
command
Position command filter
Filter 1
Select
Moving average
count
Moving average
count
Frequency
Width
Depth
Frequency
Width
Depth
Frequency
Width
Depth
Frequency
Gain
Depth
Frequency
Gain
Depth
Frequency
Gain Depth
Select Select Select
Filter 2 Filter 3 Filter 4
Smoothing 1
Notch 2
γ-Notch 2
Notch 1
γ-Notch 1
Notch 3
γ-Notch 3
Smoothing 2
Position
& Velocity
Controller