FATEK SD3 Series, Instruction Manual, Page: 330 / 396

38 SD3 Series Instruction Manual
7. Tuning
3. Tuning Parameters
Function The smoothing filters smooth the position command and suppress vibrations�
Parameter
Smoothing Filters
Position command filter 1: Type Select
Default:
0
No�66�0
Setting range:
0 to 3
Position command filter 4: Switch Select
Default:
1
No�66�1
Settings
0, 1
Position command filter 1:
Smoothing 1 -Moving average counter
Default:
25 (
less than
750 W)
20 (
over
1 kW )
No�80�0
Setting range:
1 to 6,250
Position command filter 4:
Smoothing 2 -Moving average counter
Default:
10
No�81�0
Setting range:
1 to 1,250
Remark
Before setting any of the parameters, wait for at least 3 secs after the motor stops and
then set it while the command pulse is not being input�
Changing the parameter setting during pulse input or with presence of pulse residue
could cause shift in position� The larger setting will result in longer command time delay�
Tuning Tip
・Set Position command filter 1: Type (No�66�0) and Position command filter 4: Switch (No�66�1)
to "1"�
・Measure the vibration frequency on the torque command waveform or position deviation,
and set Position command filter 1 (and 4): Smoothing 1 (and 2) -Moving average count
(No�80�0 (and No�81�0) to the value derived from the vibration frequency�
Calculation formula:
Motor Output Capacity Moving Average Count Derived from Vibration Frequency
50 W to 750 W : 6,250
×(vibration frequency[s]) = parameter value
1 kW to 2 kW : 5,000
In the example below, when the vibration frequency is 39 ms, the average count = 6,250
x 0�039 = 242; the delay time will be 39 ms�
5 Setting Parameters List of Parameters
Example: 50 W to 750 W
Before After
t
39 ms
t
Effect of Smoothing Filter
Position Command: Smoothing Filters 1 and 2
Position
deviation
Position
deviation