NSK M-EGA-15A2301, User Manual

Page: 105 / 237

5.Operation Group 2
“
FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings
5-40
ID Contents
20
Torque Command Notch Filter A [TCNFILA]
Setting range Unit Standard value
100 to 4000 Hz 4000
■
Notch filter to eliminate sympathetic vibration element included in torque command.
Sets the resonant frequency.
◆
Setting value varies depending on the setting of the system parameter ID00 Control
Cycle.
Setting value can be input by 1[Hz]; inside the driver, the units listed below are applied.
Control Cycle Setting value Unit value inside driver
00
Standard_Sampling
Standard Sampling
100 to 1999[Hz] Valid by 10Hz and drop less than 10
2000 to
4000[Hz]
Filter invalid
01
High-freq_Sampling
High Frequency
Sampling 100 to 3999[Hz] Valid by 10Hz and drop less than 10
4000[Hz] Filter invalid
This parameter is automatically saved by executing Notch filter tuning.
21
TCNFILA, Low Frequency Phase Delay Improvement
[TCNFPA] Setting range Unit Standard value
00 to 02 - 00
■
Improves phase delay at lower frequency than resonant frequency of the Torque Command
Notch Filter A.
◆ The larger the value is, the greater the improvement.
◆
Characteristic is same as the standard notch filter at the setting value 0.
◆
Caution, other than the setting value 0, higher frequencies than the middle frequency
will be amplified.
Phase [dB]
Frequency [Hz]
No improvement
Improvement
No improvement
Improvement
Frequency [Hz]
Resonant frequency fn
-3 [dB]
0 [dB]
0.62
×
fn 1.62
×
fn
Gain [dB]