Torque Command Filter; Function Restriction; Function Description; Application Example - Delta ASDA-A3 Series User Manual

ASDA-A3 Tuning

5.7.8 Torque command filter

5.7.8.1 Function restriction

5
Set the control mode (P1.001.YX) to Torque mode (T or Tz).

5.7.8.2 Function description

After the torque command is processed with the first-order low-pass filter, the unwanted
high-frequency response or noise is attenuated, and the command becomes smoother.
Torque command
before filtering
Torque
Torque command
after filtering
Target
torque*0.998
Time
Time constant
set in P1.007

5.7.8.3 Application example

When the servo is in analog Torque mode (T) to perform force control (such as tension or
pressure control), the command value is usually a constant which changes slowly. Since the
bandwidth of the servo current loop is much higher than that of the position loop and speed
loop, it is highly responsive but is subject to noise interference. Properly adjust P1.007 to
reduce the high-frequency noise and increase the control accuracy.
Relevant parameter
Refer to Chapter 8 for detailed descriptions of the relevant parameter.
Parameter Function
P1.007 Torque command - smoothing constant (low-pass filter)
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