YASKAWA JUSP-MD D01A Series User Manual page 246

6 Adjustments
6.7.6 Torque Reference Filter
(2) Notch Filter
The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso-
nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre-
quency. The frequency characteristics near the notch can be reduced or removed with this filter. A higher Q
value produces a sharper notch and phase delay.
Gain
(db)
Phase
(deg)
The notch filter can be enabled or disabled with Pn408.
Pn408
Set the machine's vibration frequency as a parameter of the notch filter.
Pn409
Pn40A
Pn40B
Pn40C
Pn40D
6-52
Q value = 0.7
Notch Filter
100
0
-100
-200
-300
3
2
10
10
Frequency (Hz)
Notch Filter
0
-100
-200
-300
-400
2 3
10
10
Frequency (Hz)
Parameter
n.0
Disables 1st notch filter.
[Factory setting]
n.1 Enables 1st notch filter.
n.0
Disables 2nd notch filter.
[Factory setting]
n.1 Enables 2nd notch filter.
1st Notch Filter Frequency
Setting Range
50 to 5000
1st Notch Filter Q Value
Setting Range
50 to 1000
1st Notch Filter Depth
Setting Range
0 to 1000
2nd Notch Filter Frequency
Setting Range
50 to 5000
2nd Notch Filter Q Value
Setting Range
50 to 1000
Gain
(db)
4
10
Phase
(deg)
4
10
Meaning
Speed
Setting Unit Factory Setting
1 Hz 5000
Speed
Setting Unit Factory Setting
0.01 70
Speed
Setting Unit Factory Setting
0.001 0
Speed
Setting Unit Factory Setting
1 Hz 5000
Speed
Setting Unit Factory Setting
0.01 70
Q value = 1.0
Notch Filter
100
0
-100
-200
-300
2 3
10 10
Frequency (Hz)
Notch Filter
0
-100
-200
-300
-400
2 3
10 10
Frequency (Hz)
When Enabled Classification
Immediately
Position
Torque
When Enabled
Immediately
Position Torque
When Enabled
Immediately
Position Torque
When Enabled
Immediately
Position Torque
When Enabled
Immediately
Position Torque
When Enabled
Immediately
4
10
4
10
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning