9 Adjustments
9.4.10 Torque Reference Filter
9-16
(1) Related Parameters
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
9.4.10 Torque Reference Filter
As shown in the following diagram, the torque reference filter contains torque reference filter time constant
(Pn401) and notch filter (two stages) arrayed in series. The notch filter can be enabled and disabled using the
parameters.
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constant. This
may stop the vibration. The lower the value, the better the speed control response will be, but there is a lower
limit that depends on the machine conditions.
Parameter
Meaning
Pn10B
n.
0
Automatic gain switching disabled (Factory setting)
n.
1
Switches the gain according to the position reference condition only.
n.
2
Switches the gain according to the position error condition only.
n.
3
Switches the gain according to the position reference and position error condition only.
Pn124
Automatic Gain Switching Timer
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 10000
1 ms
100
immediately
Pn125
Automatic Gain Switching Width
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 250
1 Reference units
7
immediately
Position
Position
Torque reference
after filtering
Torque reference
before filtering
Notch
filter
(two stages)
Torque reference
filter time
constant
Pn401
Torque
function
switches
Pn408
Notch filter
1st-order delay filter
Pn401
Torque Reference Filter Time Constant
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
(0.00 to 655.35 ms)
0.01 ms
100
Immediately
Speed
Position
Torque
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