96
Gemini GV6K/GT6K Command Reference
DNOTBQ
Notch Filter B Quality Factor
Type
Tuning
Syntax
<a_><!>DNOTBQ<r>
Units
r = quality factor
Range
0.5 to 2.5
Default
1
Response
DNOTBQ:
*DNOTBQ1.5
See Also
DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLD, DNOTLG, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
DNOTBQ
command sets the quality factor (Q) for notch filter B. For a description of the filter’s transfer
function characteristics, refer to the
DNOTAF
command description.
Working with servo gains
.
•
Servo tuning process: refer to the
Hardware Installation Guide
.
•
Check the values of all active gains (
DNOTBQ
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET
.
DNOTLD
Notch Lead Filter Break Frequency
Type
Tuning
Syntax
<a_><!>DNOTLD<i>
Units
i = Hz
Range
0 (disable), or 80-1000
Default
0 (filter is disabled)
Response
DNOTLD:
*DNOTLD200
See Also
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLG, TASX, TGAIN,
TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
DNOTLD
command sets the break frequency of the lead filter. This filter cannot be used alone, but must
be used in conjunction with the
DNOTLG
lag filter. The
DNOTLG
lag filter must be configured before the
DNOTLD
lead filter is configured.
The
DNOTLD
value must be less than or equal to 4 times the
DNOTLG
(notch lag frequency) value; otherwise,
the new
DNOTLD
value will be ignored (but not overwritten), the configuration warning bit (
TASX
bit #28)
will be set, and the last valid
DNOTLD
value will be used internally.
This filter operates in all
DMODE
settings, except Autorun (
DMODE13
) and Torque/Force Tuning mode
(
DMODE15
).
In the graphs below, the transfer function is shown relating the internal commanded torque/force vs. the
user commanded torque/force. In this example, the lag frequency was set first to 40 Hz (
DNOTLG40
) and
then the lead filter was set to 160 Hz (
DNOTLD
).
Filter Response, dB
1
10
100
10
3
10
4
20
15
10
5
0
5
Frequency, Hz
DNOTLG40
DNOTLD160
Phase shift, De
grees
45
40
35
30
25
20
15
10
5
0
5
DNOTLG40
DNOTLD160
1
10
100
10
3
10
4
Frequency, Hz
Working with servo gains
.
•
Servo tuning process: refer to the
Hardware Installation Guide
.
•
Check the values of all active gains (
DNOTLD
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET
.
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