8 Adjustments
8-2
8.1 Torque Filters
As shown in the following diagram, the torque reference filter contains three torque reference filters and two
notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and dis-
abled with the parameters.
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constants.
This may stop the vibration. The lower the value, the better the speed control response will be, but there is a
lower limit that depends on the machine conditions.
Note: 1. The setting units for the third stage torque reference filter are different from the units for the first
and second stage filters.
2. The second stage 2nd-order torque reference filter is disabled when parameter Pn40F (Second
Stage 2nd-order Torque Reference Filter Frequency) is set to it’s factory setting of 2,000 Hz.
First Stage
#1 Torque
Reference
Filter
(Pn401)
Torque reference
after filtering
Torque reference
before filtering
First Stage
Notch
Filters
(Pn409,
Pn40A,
and Pn40B)
Second Stage
2nd-order
Torque
Reference
Filters
(Pn40F and
Pn410)
Third Stage
Torque
Reference
Filter
(Pn411)
Second
Stage
Notch
Filters
(Pn40C,
Pn40D,
and
Pn40E)
Pn401
First stage #1 torque reference filter
Setting Range
Setting Unit
Factory Setting
Setting Validation
0.00 to 655.35 ms
0.01 ms
1.00 ms
Immediately
Pn40F
Second stage 2nd-order torque reference filter frequency
Setting Range
Setting Unit
Factory Setting
Setting Validation
100 to 2,000 Hz
1 Hz
2,000 Hz
Immediately
Pn410
Second stage 2nd-order torque reference filter Q value
Setting Range
Setting Unit
Factory Setting
Setting Validation
0.50 to 10.00 Hz
0.01
0.70
Immediately
Pn411
Third stage torque reference filter
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
µ
s
1
µ
s
0
µ
s
Immediately
SIEPS80000025.book 2 ページ ２００４年１０月２５日 月曜日 午前１１時５７分
