YASKAWA SGMJV User Manual page 229

5 Adjustments
5.9.3 Torque Reference Filter
(2) Notch Filter
The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso-
nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre-
quency. The frequency characteristics near the notch can be reduced or removed with this filter. A higher Q
value produces a sharper notch and phase delay.
Gain
(db)
Phase
(deg)
The notch filter can be enabled or disabled with Pn408.
Pn408
Set the machine's vibration frequency as a parameter of the notch filter.
Pn409
Pn40A
Pn40B
Pn40C
5-74
Q value = 0.7
Notch Filter
100
0
-100
-200
-300
2 3
10
10
Frequency (Hz)
Notch Filter
0
-100
-200
-300
-400
2 3
10
10
Frequency (Hz)
Parameter
n.0
Disables 1st notch filter.
[Factory setting]
n.1 Enables 1st notch filter.
n.0
Disables 2nd notch filter.
[Factory setting]
n.1 Enables 2nd notch filter.
1st Notch Filter Frequency
Setting Range
50 to 5000
1st Notch Filter Q Value
Setting Range
50 to 1000
1st Notch Filter Depth
Setting Range
0 to 1000
2nd Notch Filter Frequency
Setting Range
50 to 5000
Gain
(db)
4
10
Phase
(deg)
4
10
Meaning
Speed
Setting Unit Factory Setting
1 Hz 5000
Speed
Setting Unit Factory Setting
0.01 70
Speed
Setting Unit Factory Setting
0.001 0
Speed
Setting Unit Factory Setting
1 Hz 5000
Q value = 1.0
Notch Filter
100
0
-100
-200
-300
2 3
10 10
Frequency (Hz)
Notch Filter
0
-100
-200
-300
-400
2 3
10 10
Frequency (Hz)
When Enabled Classification
Immediately
Position
Torque
When Enabled
Immediately
Position
Torque
When Enabled
Immediately
Position
Torque
When Enabled
Immediately
Position
Torque
When Enabled
Immediately
4
10
4
10
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning