Force Reference Filter - YASKAWA Σ-V Series User Manual

5.9.3 Force Reference Filter

As shown in the following diagram, the force reference filter contains first order lag filter and notch filters
arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the
Pn408.
Force
Reference
reference
before
filtering
First order lag filter
* The 2nd step 2nd force reference filter is available when Pn40F is set to a value less than
5000 and not available when Pn40F is set to 5000 (factory setting).

(1) Force Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the force reference 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.
Force Reference Filter Time Constant
Pn401
Setting Range
Force Reference Filter Guide
Use the speed loop gain (Pn100 [Hz]) and the force reference filter time constant (Pn401 [ms]).
Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2π × Pn100 [Hz] × 1)
2nd Step 2nd Force Reference Filter
Frequency
Pn40F
Setting Range
2nd Step 2nd Force Reference Filter Q
Value
Pn410
Setting Range
∗
Setting the Pn40F to 5000 disables the force reference filter.
*
2nd Step
Force
2nd Force
Reference
Filter
Filter
(Pn401)
(Pn40F,
Pn410)
Second order lag filter
Setting Unit
0 to 65535 0.01 ms
Setting Unit
100 to 5000 1 Hz
Setting Unit
50 to 1000 0.01
5.9 Compatible Adjustment Function
Force Related
Function Switch
Pn408
2nd
1st
Notch
Notch
Filter
Filter
(Pn409, (Pn40C,
Pn40D and
Pn40A
Pn40E)
and Pn40B)
Notch filter Notch filter
Position
Speed
Force
Factory Setting When Enabled
100 Immediately
Speed Position
Force
Factory Setting When Enabled
*
Immediately
5000
Position
Speed
Force
Factory Setting When Enabled
50 Immediately
Force
reference
after
filtering
Classification
Tuning
Classification
Tuning
Classification
5
Tuning
5-65