Torque Reference Filter - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.9.6 Torque Reference Filter

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
before
filtering
* The 2nd torque reference filter is enabled when Pn40F is set to a value less than
5000 and disabled 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
with Pn401. This may stop the vibration. The lower the value, the better the response will be, but there may be
a limit that depends on the machine conditions.
Pn401
Torque
Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms]) to set the torque refer-
ence filter.
Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2π × Pn100 [Hz] × 1)
Pn40F
Pn410
∗
The filter is disabled if 5000 is set.
6-72
*
Torque 2nd
Reference Torque
Filter Reference
(Pn401) Filter
(Pn40F,
Pn410)
First order lag filter
Second order lag filter
Torque Reference Filter Time Constant
Setting Range
0 to 65535
Reference Filter Setting Guide
2nd Step 2nd Torque Reference Filter
Frequency
Setting Range
100 to 5000
2nd Step 2nd Torque Reference Filter
Q Value
Setting Range
50 to 100
Torque Related
Function Switch
Pn408
1st Notch
Filter
(Pn409,
Pn40A,
and Pn40B)
Notch filter
Speed
Setting Unit Factory Setting
0.01 ms 100
Speed
Setting Unit Factory Setting
1 Hz
5000
Speed
Setting Unit Factory Setting
0.01 50
Rotation
2nd
Notch
Filter
(Pn40C,
Pn40D, and
Pn40E)
Notch filter
Position Torque
When Enabled
Immediately
Position Torque
When Enabled
*
Immediately
Position
Torque
When Enabled
Immediately
Torque
reference
after
filtering
Classification
Tuning
Classification
Tuning
Classification
Tuning