YASKAWA SGD7C-***AMAA*** Product Manual page 499

8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
 Torque Reference Filter
As shown in the following diagram, the torque reference filter contains a first order lag filter and
notch filters arranged in series, and each filter operates independently.
The notch filters can be enabled and disabled with Pn408 = n.
Torque
reference
before filter
*
The second stage second torque reference filter is disabled when Pn40F is set to 5,000 (default setting) and it is
enabled when Pn40F is set to a value lower than 5,000.
 Torque Reference Filter
If you suspect that machine vibration is being caused by the Servo Drive, try adjusting the
torque reference filter time constant. This may stop the vibration. The lower the value, the bet-
ter the control response characteristic will be, but there may be a limit depending on the
machine conditions.
Pn401
Pn40F
Pn410
*
The filter is disabled if you set the parameter to 5,000
8-76
*
Fir t tage fir t
econd tage
econd torque
torque
reference filter:
reference filter:
Pn40F
Pn401
Pn410
Fir t order lag filter econd order lag filter
First Stage First Torque Reference Filter Time Constant
Setting Range Setting Unit
0 to 65,535
Second Stage Second Torque Reference Filter Frequency
Setting Range Setting Unit
100 to 5,000
Second Stage Second Torque Reference Filter Q Value
Setting Range Setting Unit
50 to 100
Torque-Related
Function election 1
Pn408
econd tage
Fir t tage
notch
notch
filter:
filter:
Pn409 Pn40C
Pn40A Pn40D
Pn40E
Pn40B
Notch filter Notch filter
Default Setting
0.01 ms 100
Default Setting
1 Hz 5,000*
Default Setting
0.01 50
 
X X and Pn416 = n.
Torque-Related
Function election 2
Pn416
Third tage Fourth tage
notch notch
filter: filter:
Pn417 Pn41A
Pn418 Pn41B
Pn419 Pn41C
Notch filter Notch filter
peed Po ition
When Enabled
Immediately
peed
Po ition
When Enabled
Immediately
peed
Po ition
When Enabled
Immediately

XXX.
Torque
Fifth tage
notch reference
filter:
after filter
Pn41D
Pn41E
Pn41F
Notch filter
Torque
Classification
Tuning
Torque
Classification
Tuning
Torque
Classification
Tuning