SD710 Series Servo User Manual Chapter 9 Parameter description
29
Pn104
Torque command filter time constant
○
Communication
address:
0x0104
Factory value: 1.00
Setting range: 0.00 to 655.35
Unit: ms
Control mode.
□
P
□
S
□
T
Parameter
Description
Sets the resonance rejection low-pass filtering time constant. When the constant is set to 0, the low-
pass filtering function is turned off. When the resonance phenomenon occurs in the mechanical
structure, it is possible that the drive control system is too rigid or the corresponding bandwidth is too
fast. By using this parameter with the resonance suppression notch filter parameter, the resonance of
the control system can be suppressed without changing the control parameters.
BW
Gain
Frequency
BW
Gain
Frequency
As the torque command filter time parameter is gradually adjusted from 0 to a larger one, the
corresponding BW point will become smaller and smaller. Of course the problem of resonant frequency
generation will be solved, but the bandwidth and phase boundaries of the system response will be
reduced at the same time.
Using low-pass filtering to suppress.
As the low-pass filter is cranked up from 0, the co-channel band becomes smaller and smaller. Although
the problem of resonance generation is solved, the system response bandwidth and phase boundaries
are also reduced and the system becomes more unstable.
Recommended.
Adjustment values for the stability control range.
Pn104[ms] =
1000
2π×Pn102[Hz]×4
Adjustment values for the limit control range.
Pn104[ms] =
1000
2π×Pn102[Hz]×1
