EA180 Series Servo Drive Users Manual 6.9.2 Torque command filter (P4-29) Set the filter time constant so that the gain attenuates near the resonant frequency. The cutoff frequency of the torque command filter can be calculated by the following formula: 1 Hz) frequency( off - Cut 00001 .0 value parameter Set 2 6.9.3 Notch filter EA180 servo drive has 4 notch filters, and the frequency, width and depth can be adjusted manually. The 3rd and 4th notch filters can use auto mode. Set P5-00 as 1, input motion command; automatically set the center frequency and notch depth parameters of the 3rd and 4th notch filters when the resonance point affects the motor speed.
If resonance point fails to be detected, users can appropriately decrease the value of P5-01 (automatic vibration detection level sensitivity) to find a vibration point with a small amplitude when vibration occurs. Mechanical characteristics at resonance Notch filter characteristics Results after notch Notch width and depth The notch filter width and the ratio if notch center frequency at the depth of 0 to the frequency bandwidth at attenuation rate of -3dB are shown on the left side of the following table.
When the notch filter depth is set as 0, the center frequency input is completely cut off; when it is set as 100, and the center frequency input completely passes (output to input ratio = 1). When expressed as dB, the values are shown on the right side of the following table. 64 Resonance frequency Antiresonance frequency Notch Resonance point suppressed Antiresonance frequency Notch width Bandwidth/center frequency 0 0.1 1 0.59 2 0.71 3 0.84 4 1.0 5 1.19 6 1.41 7 1.68 8 2.0 9 2.38 10 2.83 Notch width Output-to-input ratio dB 0 0 -∞ 1 0.01 -40 2 0.02 -34 3 0.03 -30.5 4 0.04 -28 5 0.05 -26 6 0.06 -24.4 7 0.07 -23.1 8 0.08 -21.9 9 0.09 -20.9 10 0.1 -20