Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-37
9.6
Vibration Suppression
9.6.1
Notch Filter
The notch filter is used to eliminate vibration caused by mechanical resonance.
There are three notch filters in the Drive, those who can used independently or in combination, Figure 9-
18 shows the block diagram of using the notch filters.
Figure 9-18
Block diagram of using the notch filters
Position loop
Speed loop
Torque loop
Position
Reference
M
Current
Encoder
Motor
Speed
Position
Notch Filter
1, 2, and 3
Figure 9-19 shows the relevant parameters for the notch filter. Since the notch filter can attenuate the
signal at the notch frequency, if you set a proper frequency (Pn181, Pn184 or Pn187), depth (n182, Pn185
or Pn188) and width (n183, Pn186 or Pn189), the vibration signal in the torque reference can be filtered.
Figure 9-19
Diagram of notch filter parameters
Notch center frequency
Ph
a
se
A
m
pli
tu
d
e
Width
Depth
Parameter Setting
Meaning
When Enabled Classification
Pn181
－
Frequency of Notch Filter 1
Immediately
Adjustment
Pn182
－
Depth of Notch Filter 1
Immediately
Adjustment
Pn183
－
Width of Notch Filter 1
Immediately
Adjustment
Pn184
－
Frequency of Notch Filter 2
Immediately
Adjustment
Pn185
－
Depth of Notch Filter 2
Immediately
Adjustment
Pn186
－
Width of Notch Filter 2
Immediately
Adjustment
Pn187
－
Frequency of Notch Filter 3
Immediately
Adjustment
Pn188
－
Depth of Notch Filter 3
Immediately
Adjustment
