YASKAWA Sigma-II Series User Manual page 462

9 Adjustments
9.1.2 List of Servo Adjustment Functions
(3) Vibration Reduction Functions
Function Name and
Related Parameters
Soft Start
Pn305
Pn306
Acceleration/
Deceleration Filters
Pn204
Pn207
Movement Average
Filter
Pn207
Pn208
Speed Feedback
Filter
Pn308
Speed Reference
Filter
Pn307
Torque Reference
Filter
Pn401
Notch Filter
Pn409
9-4
Description
Converts a stepwise speed reference to a
constant acceleration or deceleration for
the specified time interval.
A 1st-order delay filter for the position
reference input.
A movement averaging filter for the posi-
tion reference input.
A standard 1st-order delay filter for the
speed feedback.
A 1st-order delay filter for the speed refer-
ence.
A series of three filter time constants, 1st-
order, 2nd-order, and 1st-order, can be set
in order for the torque reference.
Notch filters can be set for the torque ref-
erence.
Features
A constant acceleration/deceleration is
achieved for smoother operation. The
operation time is increased for the speci-
fied time.
Enables smooth operation.
The reference time increases by the filter
delay time even after the reference input
has been completed.
Enables smooth operation.
The reference time increases by the filter
delay time even after the reference input
has been completed.
The feedback speed is smoother.
The response is delayed if a large value is
set.
The speed reference is smoother.
The response is delayed if a large value is
set.
These filters are effective in essentially
all frequency bands.
The response is delayed if a large value
(low frequency) is set.
Mainly effective for vibration between
500 and 2,000 Hz.
Instability will result if the setting is not
correct.
Valid Refer-
Control ence
Modes Section
8.5.4
Speed
8.6.4
Position
8.6.4
Position
Position
9.4.7
Speed
8.5.5
Speed
Position
9.4.10
Speed
Torque
Position
9.4.10
Speed
Torque