CHAPTER 5 SERVO ADJUSTMENT

5.4.2 Notch Filter Setting Method

[1] Set PA1_70 (automatic notch filter selection) at 0 (disable).

[2] Using the servo analyze function of the PC Loader, determine the mechanical resonance point.

Gain

[dB]

Resonance

point

(2) Depth

(3) Width

Frequency [Hz]

(1) Resonance frequency

5

[3] Enter the resonance frequency of the mechanical resonance point and attenuation in parameters.

(1) Resonance frequency PA1_71 (notch filter 1, frequency)

(2) Depth

PA1_72 (notch filter 1, attenuation)

(3) Width

PA1_73 (notch filter 1, width)

Excessive attenuation might undermine control stability.

Setup beyond necessity shall be avoided.

Gain [dB]

Use the servo analyze

function again.

Gain [dB]

Notch filter 1,

attenuation

Frequency [Hz]

Notch filter 1, frequency

The notch filter is added to the resonance point

as shown in the figure above.

Frequency [Hz]

Auto Tuning Application 5-13