Command Notch Filter - Mitsubishi Electric MELSERVO J5 Series User Manual

4.8

Command notch filter

A command notch filter is a filter function that lowers a gain of the specific frequency contained in a position command to
suppress load-side vibration, such as work-side vibration and a base shake. The frequency to decrease the gain and the
notch depth can be set with this function.
• When command notch filter is disabled
• When command notch filter is enabled
The command notch filter has a longer settling time than that of advanced vibration suppression control II, but can easily
suppress vibration. Advanced vibration suppression control II and command notch filter characteristics are shown in the
following table.
Function
Servo parameter
Automatic estimation
Restrictions on [Pr. PB07 Model control gain]
Precautions
• Using advanced vibration suppression control II and the command notch filter can suppress the load-side vibration of three
different frequencies.
• The frequency of machine vibration that can be supported by the command notch filter is specifically between 1.12 Hz and
2000 Hz. Set a frequency close to the machine vibration frequency and within the range.
• When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected.
The setting value is reflected after waiting for the following time once the servo motor stops (after servo-lock).
Setting frequency for command notch filter before the change
4.5 Hz or more
1.12 Hz or more to less than 4.5 Hz
4 VIBRATION SUPPRESSION FUNCTION
66
4.8 Command notch filter
Load side
t
Load side
t
Command notch filter
[Pr. PB45]
×
×
Advanced vibration suppression
control II
[Pr. PB01]
[Pr. PB19]
[Pr. PB20]
[Pr. PB21]
[Pr. PB22]
[Pr. PB52]
[Pr. PB53]
[Pr. PB54]
[Pr. PB55]
○
○
Waiting time for reflection of the change after servo-lock
Approx. 150 ms
Approx. 500 ms