Gear Filter - Servotronix CDHD2S User Manual

Tuning

8.8 Gear filter

Note ServoStudio2 has not been fully updated.
The gear filter can be used if the system exhibits the following characteristics:
The resolution of pulse and direction commands is low.
⚫
The coupling between the motor and the load is not strong.
⚫
The movement stroke is short.
⚫
The motor makes noise after tuning.
⚫
The current fluctuates greatly during the settling process.
⚫
The motor temperature is abnormally high.
⚫
Before applying the gear filter, make sure GEARINMODE=1
When a system has multiple axes, the gear filter value must be the same for all axes.
T2
Pulse and
Direction
d/dt
Position
Command
PLC
T1
T2
ATHRSH
VELFF
AFF
Figure 8-23 Gear filter
—221
—
d/dt AFF ATHRSH
VELFF
Gearing
∑
T1
Block
Gearing Filters
GEARFILTT1
GEARFILTT2
GEARACCTHRESH*
GEARFILTVELFF*
GEARFILTAFF*
*Use default value. If necessary, please contact technical
Servo Drive
Position
PE
Command
+
HD Control
Σ
Loop
–
Figure 8-22
Table 8-21
Gear filter depth
Gear filter velocity and acceleration depth
Gear acceleration threshold
Gear filter velocity feedforward
Gear filter acceleration feedforward
support
Gear filter - example 1
Increasing GEARFILTT1 will smooth the
input command PTPVCMD,
but it will increase the delay.
Suggested value:
GEARFILTT1=~2 input step width
GEARFILTT2=2GEARFILTT1
Current
Command
+
Current
Σ
Loop
–
M
Load
Feedback