Nidec Control Techniques Digitax-SF DA21223, Instruction Manual, Page: 322 / 386

39
t
T [s]
N
F = N/T [Hz]
F [Hz]
0 dB
[-]
79.0
86.0
360.0
-3 dB
[Hz]
75.0
84.0
358.0
0 dB
-3 dB
74.0
83.0
357.0
74.0
83.0
357.0
Digitax SF
Instruction Man
ual
Tuning
7
7. Tuning
3.
Tuning Parameters
3. Tuning Parameters
Function
Apply this filter if the machine end point is still vibrating after sufficient tuning was
performed and the smoothing filter was applied�
Has vibration suppression effect on mechanical systems where the vibrations don’t
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
error
(Status No�80)�
Parameter
Filter 1 Filter 2 Filter 3
Frequency
Default:
10 [0�1 Hz]
74�0 83�0 357�0
Setting range:
10–2,000
Width
Default:
512
75�0 84�0 358�0
Setting range:
128–2,048
Depth
Default:
0
79�0 86�0 360�0
Setting range:
0–100
Remark
Increasing the notch width will make the position
error
large�
Too large a notch width or setting the second level notch filter will result in better
vibration suppression; however, the position
error
will be larger� Set this filter
within the acceptable range of position
error.
Tuning Tip
Check the following before applying the filter
・The command from the host controller is reasonable
・The equipment is installed firmly and properly�
・The gain parameters such as inertia ratio are properly set�
・The command smoothing filters 2 (and 1) are set�
・The integral gain has been decreased and vibrations are unlikely to occur�
Start the equipment operation and apply the vibration frequency (measured at the
equipment end) to the notch frequency� If the vibration cannot be suppressed, increase
the notch width (by 800 as a rough standard)� To reduce the position
error
during operation, increase the notch depth .
5 Setting List of Parameters
Position Command Notch Filter
Vibration frequency
Vibration frequency
Depth
[times]
Gain [dB]
Torque Command Value
or
ABS Position
Error
Gain [dB]
Width