CHAPTER 4 PARAMETER

Specify to suppress resonance of the mechanical system. Up to two resonance points can be

suppressed. Select 1 (enable) for automatic notch filter selection to adjust the notch filter automatically

to the best value and suppress resonance.

Parameters automatically adjusted in this case include PA1_71 to _76. Values are stored in the

EEPROM every 10 minutes.

 How to set the notch filter

(1) If there is resonance in the mechanical system, a notch filter is automatically set. If resonance is

not suppressed, set PA1_70 (automatic notch filter selection) at 0 (disable) and follow the

procedure below to manually adjust the notch filter.

(2) Using the servo analyze function of PC Loader, determine the resonance point of the machine.

4

Gain

[dB]

Resonance

point

(b) Depth

(c) Width

Frequency [Hz]

(a) Resonance frequency

(3) Enter the resonance frequency of and attenuation of the resonance point of the machine into

parameters.

(a) Resonance frequency PA1_71: Notch filter 1, frequency

(b) Depth PA1_72: Notch filter 1, attenuation *

(c) Width PA1_73: Notch filter 1, width

* Too much attenuation may undermine stability of the control. Do not enter too much

setting. (Set at 0 dB to disable the notch filter.)

The notch filter is

added to the

resonance point.

Activate the servo

analyze function again.

The notch filter functions to

eliminate the resonance point.

Attenuation

減衰量

Width

広さ

Frequency

周波数

(4) Approximate reference value

Refer to the table below for the approximate reference value.

Frequency [Hz]

200

500

700

Attenuation [dB]

-5

-10

-15

Width

2,3

4-32 Control Gain and Filter Setting Parameter

1000

-20