Command Notch Filter - Mitsubishi Electric MR-J4 Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS
(b) When vibration can be confirmed using monitor signal or external sensor
Vibration cycle [Hz]
Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".

7.1.6 Command notch filter

(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.
Motor-side vibration
(droop pulses)
Position command frequency
Vibration suppression control -
Vibration suppression control -
POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).
Command notch filter: disabled
t
Vibration frequency
Resonance frequency
Set the same value.
Load side
t
7 - 13
External acceleration pickup signal, etc.
Vibration cycle [Hz]
Command notch filter: enabled
t
Load side
t