Torque Reference Filter - YASKAWA JUSP-MD D01A Series User Manual

6.7.6 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
Torque
reference
Reference
before Filter
(Pn401)
filtering
First order lag filter
* 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.
Torque Reference Filter Time Constant
Pn401
Setting Range
Torque
 Reference Filter Setting Guide
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)
2nd Step 2nd Torque Reference Filter
Frequency
Pn40F
Setting Range
2nd Step 2nd Torque Reference Filter
Q Value
Pn410
Setting Range
∗
The filter is disabled if 5000 is set.
*
2nd
Torque
Reference
Filter
(Pn40F,
Pn410)
Second order lag filter
Setting Unit
0 to 65535 0.01 ms
Setting Unit
100 to 5000 1 Hz
Setting Unit
50 to 100 0.01
6.7 Compatible Adjustment Function
Torque Related
Function Switch
Pn408
2nd
1st Notch
Notch
Filter
Filter
(Pn409,
(Pn40C,
Pn40A,
Pn40D, and
and Pn40B)
Pn40E)
Notch filter Notch filter
Speed Position Torque
Factory Setting When Enabled
100 Immediately
Torque
Speed Position
Factory Setting When Enabled
*
Immediately
5000
Position
Speed Torque
Factory Setting When Enabled
50 Immediately
Rotation
Torque
reference
after
filtering
Classification
Tuning
Classification
Tuning
6
Classification
Tuning
6-51