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10
5
DNOTAD.3
0
5
10
DNOTAD.9
15
20
25
30
0
1
10
10
Frequency, Hz
These filters operate in all
DMODE
(
).
DMODE15
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide.
• Check the values of all active gains (
• Creating and invoking gain sets: see
DNOTAF
Notch Filter A Frequency
Type
Tuning
Syntax
<a_><!>DNOTAF<i>
Units
i = Hz
Range
0 (disable), or 60-1000
Default
0 (filter is disabled)
Response
DNOTAF:
*DNOTAF200
See Also
DNOTAD, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG, TASX,
TCS, TGAIN, TSGSET
The
command sets the center frequency for the commanded torque/force notch filter A. Setting
DNOTAF
this to 0 disables the filter. If setting a value results in an internal calculation error, the last valid value is
used,
bit #28 is set, and a value of 551 is written to the
TASX
There are two cascaded notch filters labeled "A" and "B". Both filters operate in exactly the same way. The
graphs below illustrate the transfer function (magnitude and phase) of the input commanded torque/force
vs. the output commanded torque/force. In this example, the notch frequency is set to 150 Hz (
and the "Q" is set to 1 (
DNOTAQ1
10
0
10
20
30
40
1
10
These filters operate in all
DMODE
(
).
DMODE15
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide.
• Check the values of all active gains (
• Creating and invoking gain sets: see
94
Gemini GV6K/GT6K Command Reference
DNOTAD.6
2
3
4
10
10
10
settings, except Autorun (
is one of many servo gains): use
DNOTAD
,
SGSET
SGENB
).
DNOTAF150
3
4
100
10
10
Frequency, Hz
settings, except Autorun (
is one of many servo gains): use
DNOTAF
,
SGSET
SGENB
www.comoso.com
80
60
40
20
DNOTAD.6
DNOTAD.3
0
-20
-40
DNOTAD.9
-60
-80
0
1
2
10
10
10
Frequency, Hz
) and Torque/Force Tuning mode
DMODE13
TGAIN.
,
,
TGAIN
TSGSET.
register.
TCS
100
80
60
40
20
DNOTAF150
0
20
40
60
80
100
1
10
100
Frequency, Hz
) and Torque/Force Tuning mode
DMODE13
TGAIN.
,
,
TGAIN
TSGSET.
3
4
10
10
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
)
DNOTAF150
3
4
10
10
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