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DNOTBQ
Notch Filter B Quality Factor
Type
Tuning
Syntax
<a_><!>DNOTBQ<r>
Units
r = quality factor
Range
0.5 to 2.5
Default
1
Response
DNOTBQ:
*DNOTBQ1.5
See Also
DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLD, DNOTLG, TGAIN, TSGSET
The
command sets the quality factor (Q) for notch filter B. For a description of the filter's transfer
DNOTBQ
function characteristics, refer to the
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
DNOTLD
Notch Lead Filter Break Frequency
Type
Tuning
Syntax
<a_><!>DNOTLD<i>
Units
i = Hz
Range
0 (disable), or 80-1000
Default
0 (filter is disabled)
Response
DNOTLD:
*DNOTLD200
See Also
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLG, TASX, TGAIN,
TSGSET
The
command sets the break frequency of the lead filter. This filter cannot be used alone, but must
DNOTLD
be used in conjunction with the
lead filter is configured.
DNOTLD
The
value must be less than or equal to 4 times the
DNOTLD
the new
value will be ignored (but not overwritten), the configuration warning bit (
DNOTLD
will be set, and the last valid
This filter operates in all
DMODE
(
).
DMODE15
In the graphs below, the transfer function is shown relating the internal commanded torque/force vs. the
user commanded torque/force. In this example, the lag frequency was set first to 40 Hz (
then the lead filter was set to 160 Hz (
5
0
5
DNOTLG40
10
15
20
1
10
Frequency, Hz
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
96
Gemini GV6K/GT6K Command Reference
command description.
DNOTAF
is one of many servo gains): use
DNOTBQ
,
SGSET
SGENB
lag filter. The
DNOTLG
DNOTLG
value will be used internally.
DNOTLD
settings, except Autorun (
).
DNOTLD
DNOTLD160
3
4
100
10
10
is one of many servo gains): use
DNOTLD
,
SGSET
SGENB
www.comoso.com
TGAIN.
,
,
TGAIN
TSGSET.
lag filter must be configured before the
(notch lag frequency) value; otherwise,
DNOTLG
) and Torque/Force Tuning mode
DMODE13
5
0
DNOTLG40
5
DNOTLD160
10
15
20
25
30
35
40
45
1
10
100
Frequency, Hz
TGAIN.
,
,
TGAIN
TSGSET.
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
bit #28)
TASX
) and
DNOTLG40
3
4
10
10
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