72
P1-46
torque
/%
voltage
/V
AI1
Given positive
torque
Given negative
torque
P1-47
AI1
Torque instruction given
by internal number.
P1-48=0
The value of AT1 is
greater than torque
output of P1-47
The value of AT1 is
less than torque output
of P1-47
The absolute value of AT1
is greater than torque
output of P1-47
The absolute value of AT1
is less than torque output of
P1-47
Figure7-13 torque limit
It can limit torque and speed by external instruction, please refers to specification of P4-01.
P1-49
The third group of resonance frequency
value
Initail value
Unit
Communication
Address
1000
Hz
2131H
Control Mode
：
P S
Range
：
50
～
1000
Data size
：
16bit
Display mode
：
Decimal system
Control Mode
：
P S
Range
：
50
～
1000
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
More are available at P1-50Parameter function
P1-50
The third group of notch depth of
resonance point
Initail value
Unit
Communication
Address
0
dB
2132H
Control Mode
：
P S
Range
：
0
～
32
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
If the mechanical system resonance occurs, it may because of large rigidity, rapid response servo system, reduce the gain may improve, but
will reduce the system response rate. In order to suppress the mechanical resonance without changing the gain, the EA100 servo driver
provides two solutions: low pass filter and notch filter.
The principle of resonance suppression is to use a filter to suppress the resonant peak of the mechanical response, and the schematic
diagram is as follows
：
frequency
gain
frequency
gain
frequency
B.W
Resonance
point
gain
f
f
f
Low
pass
filter
Notch
filter
mechanical
response
The function principle of the low pass filter and the notch filter is different, and the difference between the application situation
and the result is as follows
：
Filter type
Suitable
occasion
Advantages
disadvantages
Low pass
filter
High
frequency
resonance
Don't need to know the
exact resonance frequency
Bring the phase delay and the
bandwidth is reduced, not suitable
for low frequency resonance
occasions
Notch filter
Middle and
low
frequency
resonance
Does not affect the overall
system bandwidth
Must be accurate to know the
resonance frequency, the
frequency is set to have the
mistake instead to affect the
performance. Resonant frequency
