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Tuning

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ASDA-A3

5.7.3 Speed detection filter

5.7.3.1 Function restriction

It is recommended that the filter bandwidth (1000 / P2.049) should be 8 times (or more) the

speed loop bandwidth (P2.004 / 2π).

Note: it is recommended that you set the Analysis Type to Speed Open-loop in the System Analysis of

ASDA-Soft; the zero-crossing frequency is the speed loop bandwidth.

5.7.3.2 Function description

When the motor speed is unstable, use this function to reduce the jitter in the motor speed. You

can obtain the speed information after the position feedback signal from the encoder is processed

by the speed observer. You can use the Scope function of ASDA-Soft to monitor the speed signal

processed by the speed detection filter by setting the channel to Motor speed: real-time [rpm].

Note: set the channel to Motor speed: real-time [mm/s] for monitoring the speed of linear motors.

Position command

Filter

Low-frequency

vibration

suppression filter

Current

controller

PWM

Position

controller

Speed controller

Low-pass filter

Notch filter

ASDA-Soft

Motor speed: real-time [rpm]

Motor speed: real-time [mm/s]

Speed detection

filter

P2.049

Speed observer

Motor

Encoder

You can set P2.084.U to select the speed observer.

P2.084.U

Speed observer

Speed observer 1

Filter bandwidth

1000 / P2.049

Speed observer 2

The bandwidth cannot

be adjusted.

Speed observer 3

1000 / P2.049

Applicable range

Available for high resolution encoders.

Available for encoders or linear scales

with low resolution, such as rotary

encoders with the single-turn resolution

smaller than 40000 pulse/rev used in

low speed (< 100 rpm) application, or

linear encoders with the resolution

greater than 5 µm/pulse.

5-54

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