Hiwin D2 User Manual page 172

D2 Drive User Guide v1.8
(1) Low pass filter
The setting of typical low pass filter is given as follows:
○
fr: The cutoff frequency of filter. The unit is Hz. For general applications, a good effect
1
can be achieved at the setting of 500 Hz. Other cases can be considered to
decrease this value. However, the control performance will be reduced if the cutoff
frequency is too small.
○
xi: The damping ratio of filter. Its value ranges from 0 to 1.
2
○
k1: 0.
3
○
k2: 0.
4
HIWIN Mikrosystem Corp.
Fig. 6-24 Filter
Fig. 6-25 Low pass filter
6. Drive Tuning
166