8.8 Manual Tuning
8.8.1 Tuning the Servo Gains
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Notch Filter Depth
The setting of the notch filter depth determines the depth of the frequencies that are filtered for
the notch filter frequency. The depth of the notch changes with the notch filter depth. The
smaller the notch filter depth is, the deeper the notch is, increasing the effect of vibration sup-
pression. However, if the value is too small, vibration can actually increase.
The notch filter is disabled if the notch filter depth, d, is set to 1.0 (i.e., if Pn40B is set to 1,000).
The notch filter frequency characteristics for different notch filter depths are shown below.
Note: The above notch filter frequency characteristics are based on calculated values and may be different from
actual characteristics.
You can enable or disable the notch filter with Pn408.
Set the machine vibration frequencies in the notch filter parameters.
Parameter
Meaning
When Enabled
Classification
Pn408
n.
0
[default setting]
Disable first stage notch filter.
Immediately
Setup
n.
1
Enable first stage notch filter.
n.
0
[default setting]
Disable second stage notch filter.
n.
1
Enable second stage notch filter.
Pn409
First Stage Notch Filter Frequency
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
50 to 5,000
1 Hz
5,000
Immediately
Tuning
Pn40A
First Stage Notch Filter Q Value
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
50 to 1,000
0.01
70
Immediately
Tuning
Pn40B
First Stage Notch Filter Depth
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 1,000
0.001
0
Immediately
Tuning
Pn40C
Second Stage Notch Filter Frequency
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
50 to 5,000
1 Hz
5,000
Immediately
Tuning
Pn40D
Second Stage Notch Filter Q Value
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
50 to 1,000
0.01
70
Immediately
Tuning
Pn40E
Second Stage Notch Filter Depth
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 1,000
0.001
0
Immediately
Tuning
0
-10
-20
-30
-50
-40
d = 0.7
d = 0.1
d = 0.3
d = 0.5
Frequency [Hz]
d = 1.0 (notch filter disabled)
d = 0 (default setting)
Attenuation [dB]
