5-68
Related Parameter
Class No.
Title
Function
6
42
Two-stage
torque filter time
constant
[Setting range: 0
to
2500]
Sets time constant of 2-stage torque filter.
Setup value 0: invalid
[When using in 2nd filter with Pr6.43≥50]
Compatible time constant range is 5
to
159 (0.05 ms
to
1.59 ms)
(corresponding frequency range: 100 Hz
to
3000 Hz)
Setup values 1
to
4 function as 5 (3000 Hz) and 159
to
2500 as 159 (100 Hz).
6
43
Two-stage
torque filter
Attenuation term
[Setting range: 0
to
1000]
Set the attenuation term of 2-stage torque filter.
This setup value is used to switchover between 1st and 2nd
filter of 2-stage filter.
0
to
49:
Operates as 1st filter.
50
to
1000:
Operates as 2nd filter with
ζ
= 1.0 when setup value is 1000.
Standard value is 1000; smaller setup value will cause
oscillation.
How to Operate
When high frequency oscillation cannot be completely prevented by 1st and 2nd torque
filter, setup the 2-stage torque filter. Set Pr6.43 2-stage torque filter attenuation term to
1000 (
ζ
= 1.0) and adjust Pr6.42 2-stage torque filter time constant.
5. Manual Gain Tuning (Application)
Two-stage torque filter
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