Torque Reference Filter - YASKAWA SGMJV User Manual

6.9.6 Torque Reference Filter

As shown in the following diagram, the torque 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.
Torque
Reference
reference
before
filtering
First order lag filter
* The 2nd torque 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) Torque Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the 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.
Torque Reference Filter Time Constant
Pn401
Setting Range
Torque Reference Filter Guide
• Use the speed loop gain (Pn100 [Hz]) and the torque 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 Torque
Torque
Reference
Filter
Filter
(Pn40F,
(Pn401)
Pn410)
Second order lag filter
Setting Unit
0 to 65535 0.01 ms
6.9 Compatible Adjustment Function
Torque Related
Function Switch
Pn408
2nd
Notch
Notch
Filters
Filters
(Pn409,
Pn40A (Pn40C,
Pn40D and
and Pn40B)
Pn40E)
Notch filter Notch filter
Position
Speed Torque
Factory Setting When Enabled
100 Immediately
Torque
reference
after
filtering
Classification
Tuning
6
6-73