Torque Reference Filter - YASKAWA E-II Series User Manual

9 Adjustments

9.4.10 Torque Reference Filter

(1) Related Parameters
Parameter
Pn10B
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Pn124
Pn125

9.4.10 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains torque reference filter time constant
(Pn401) and notch filter (two stages) arrayed in series. The notch filter can be enabled and disabled using the
parameters.
Torque reference
before filtering
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constant. This
may stop the vibration. The lower the value, the better the speed control response will be, but there is a lower
limit that depends on the machine conditions.
Pn401
9-16
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n. 0 Automatic gain switching disabled (Factory setting)
n. 1 Switches the gain according to the position reference condition only.
n. 2 Switches the gain according to the position error condition only.
n. 3 Switches the gain according to the position reference and position error condition only.
Automatic Gain Switching Timer
Setting Range
1 to 10000
Automatic Gain Switching Width
Setting Range
1 to 250
Torque
function
switches
Pn408
Torque reference
filter time
constant
Pn401
1st-order delay filter
Torque Reference Filter Time Constant
Setting Range
0 to 65,535
(0.00 to 655.35 ms)
Meaning
Setting Unit Factory Setting
1 ms
Setting Unit Factory Setting
1 Reference units
Notch
filter
(two stages)
Notch filter
Setting Unit Factory Setting
0.01 ms
Position
Setting Validation
100 immediately
Position
Setting Validation
7 immediately
Torque reference
after filtering
Position
Speed
Setting Validation
100 Immediately
Torque