9 Adjustments
9.4.10 Torque Reference Filter
9-18
(a) Notch Filter
The notch filter can decrease the set frequency responsiveness. The notch filter puts a notch in the gain curve at
the specific vibration frequency. The frequency components near the notch frequency can be eliminated with this
characteristic. A higher notch filter Q value produces a sharper notch and phase delay.
(b) Related Parameters
Q value = 0.7
Q value = 1.0
Notch filter
Notch filter
Gain
(db)
Frequency (Hz)
-300
-200
-100
0
100
2
10
10
3
10
4
2
10
10
3
10
4
Phase
Frequency (Hz)
-400
-300
-200
-100
0
(deg)
-300
-200
-100
0
100
2
10
10
3
10
4
2
10
10
3
10
4
-400
-300
-200
-100
0
Notch filter
Gain
(db)
Frequency (Hz)
Notch filter
Phase
(deg)
Frequency (Hz)
Parameter
Meaning
Pn408
n.
0
First notch filter disabled (Factory setting)
n.
1
Use first notch filter.
n.
0
Second notch filter disabled (Factory setting)
n.
1
Use second notch filter.
Pn409
First Stage Notch Filter Frequency
Setting Range
Setting Unit
Factory Setting
Setting Validation
50 to 2000
1 Hz
2000
Immediately
Pn40A
First Stage Notch Filter Q Value
Setting Range
Setting Unit
Factory Setting
Setting Validation
50 to 400
×
0.01
70
Immediately
Pn40B
Second Stage Notch Filter Frequency
Setting Range
Setting Unit
Factory Setting
Setting Validation
50 to 2000
1 Hz
2000
Immediately
Pn40C
Second Stage Notch Filter Q Value
Setting Range
Setting Unit
Factory Setting
Setting Validation
50 to 400
×
0.01
70
Immediately
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
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