Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Notch Filter Function 7.10.8
Notch filters are mainly used for driving mechanical equipments with high-velocity and high-precision. In
such cases, servo gains are usually set to be relatively high, which may cause mechanical vibration. Vibration
frequencies can be filtered through notch filters, resulting in higher gains and faster servo response. At present,
R6 supports two notch filter functions.
Figure 7.10-2. Diagram of notch filter functions
Number Index Name Unit Setting range
Default
value
Effective
time
62 0x2060
command notch
filter control
switch
—
0x00000000~0x0101010
1
0x00000000 Immediately
Byte0: Torque command notch filter 1 enabling switch
0x00-Disable torque command notch filter 1;
0x01-Enable torque command notch filter 1.
Byte1: Velocity command notch filter 1 enabling switch
0x00-Disable velocity command notch filter 1;
0x01-Enable velocity command notch filter 1.
Byte2: Torque command resonance filter enabling switch
0x00-Disable torque command resonance filter;
0x01-Enable torque command resonance filter.
Byte3: Velocity command notch filter 2 enabling switch
0x00-Disable velocity command notch filter 2;
0x01-Enable velocity command notch filter 2.
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