34
Gemini GV Hardware Installation Guide
12. Adjust the Q of the filter (DNOTAQ command) until ringing is controlled, using the
following guidelines:
•
Set Q as low as possible. Resonances change with load; therefore, your
system will be more robust with a lower Q value.
•
If Q is too low, system stiffness will be reduced outside the resonant range.
•
If Q is too high, the response peak may merely shift in frequency.
13. After reducing the resonance, you may notice a second resonance. Use the second
notch filter (DNOTBF, DNOTBD and DNOTBQ) to reduce the second resonance.
Follow the same procedure as outlined in steps 1 – 10 above.
14. If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise,
proceed to the
Lag Filter Adjustment procedure below.
Lag Filter Adjustment Procedure
The lag filter can act as a low pass filter, and reduce the effects of electrical noise on the
command input signal in torque mode. (It can also reduce the effects of resonance at low
frequencies—below 60 Hz—where the notch filters are not effective.)
1.
As described in Steps 2 – 3 in the
Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2.
Verify that the lead filter is turned off (DNOTLDØ).
3.
Configure the drive for the appropriate tuning mode (torque, velocity, or position).
Observe the system’s response to the tuning mode’s step input.
4.
Choose a value for the lag filter (DNOTLG) that reduces low frequency resonance
and provides satisfactory system performance.
5.
If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise,
proceed to the
Lead/Lag Filter Adjustment procedure below.
Lead/Lag Filter Adjustment Procedure
The lead filter can counteract the effects of the lag filter at higher frequencies. Do not use
the lead filter by itself—if you use the lead filter, you must also use the lag filter.
1.
As described in Steps 2 – 3 in the
Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2.
Set the lag filter (DNOTLG) as described above.
3.
Configure the drive for the appropriate tuning mode (torque, velocity, or position).
Observe the system’s response to the tuning mode’s step input.
4.
Choose a value for the lead filter (DNOTLD) that improves system performance.
This value will typically be higher in frequency than the lag filter setting.
5.
You must choose a value for the lead filter that is
higher in frequency than the lag
filter value. However, do not set the lead filter higher than four times the lag filter
frequency, or a drive configuration warning will result, and the drive will use the
previous filter settings.
6.
If you are done adjusting filters, reconfigure DMTLIM to its default value.
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