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7.2. For More Advanced Operation
7.2.3. Digital Filter
7.2.3. Digital Filter
！ Caution: Use of multiple filters at the same time may cause phase inversion of the
！ Caution: Two filters are the maximum. In addition, if low frequency filters are used,
Parameter: FP, FS, NP and NS
l Sets the filters in the velocity loop.
l This is effective in reducing noise caused by resonance and vibrations.
Table 7-20
Parameter
l Sets the filter frequency in the velocity loop.
l Refer to "8. Glossary of Command and Parameter" for details.
Figure 7-42
Velocity
command
velocity loop control, and make the Motor operation unstable.
hunting or oscillation may occur. Set the filter frequency 100 [Hz] or
over.
FP
Sets the frequency of primary low pass filter.
FS
Sets the frequency of secondary low pass filter.
NP
Sets the frequency of primary notch filter.
NS
Sets the frequency of secondary notch filter
Velocity
Velocity loop
loop gain
+
VG
–
Velocity data
Function
Primary
Secondary
low-pass
integrator
filter
VI
FP
— 7-48 —
B
B
3
3
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
3
t
y
p
e
Shipping set
FP0
FS0
NP0
NS0
Primary
Secondary
low-pass
notch
filter
filter
FS
NP
B
B
5
5
t
t
y
y
p
p
e
e
2
5
t
y
p
e
2
5
t
y
p
e
notch
filter
NS
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