Fifth Stage Notch Filter Frequency
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn41D
50 to 5,000
1 Hz
5,000
Immediately
Tuning
(applies to Speed Control, Position Control and Torque Control)
Fifth Stage Notch Filter Q Value
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn41E
50 to 1,000
0.01
70
Immediately
Tuning
(applies to Speed Control, Position Control and Torque Control)
Fifth Stage Notch Filter Depth
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn41F
0 to 1,000
0.001
0
Immediately
Tuning
(applies to Speed Control, Position Control and Torque Control)
–
Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A,
and Pn41D) that are close to the speed loop’s response frequency.
Set a frequency that is at least four times the speed loop gain
(Pn100). (However, Pn103 (Moment of Inertia Ratio) must be set to
an appropriate value.) If the setting is not correct, vibration may occur
and the machine may be damaged.
–
Change the notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A,
and Pn41D) only while the Servomotor is stopped. Vibration may
occur if a notch filter frequency is changed during operation.
When you manually adjust the parameters, make sure that you completely understand
the information in the product manual and use the following conditional expressions as
guidelines.
The appropriate values of the parameter settings are influenced by the machine specifi-
cations, so they cannot be determined universally. When you adjust the parameters,
actually operate the machine and use the S or analog monitor to monitor oper-
ating conditions. Even if the status is stable while the Servomotor is stopped, an unstable
condition may occur when an operation reference is input. Therefore, input operation ref-
erences and adjust the servo gains as you operate the Servomotor.
Stable gain
: Settings that provide a good balance between parameters.
However, if the load moment of inertia is large and the machine system contains ele-
ments prone to vibration, you must sometimes use a setting that is somewhat higher to
prevent the machine from vibrating.
Critical gain
: Settings for which the parameters affect each other
Depending on the machine conditions, overshooting and vibration may occur and opera-
tion may not be stable. If the critical gain condition expressions are not met, operation will
become more unstable, and there is a risk of abnormal motor shaft vibration and round-
trip operation with a large amplitude. Always stay within the critical gain conditions.
Guidelines for Manually
Tuning Servo Gains
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
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