5 Adjustments
5.7.3 Torque Reference Filter
5-54
(2) Notch Filter
The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso-
nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre-
quency. The frequency characteristics near the notch can be reduced or removed with this filter. A higher Q
value produces a sharper notch and phase delay.
The notch filter can be enabled or disabled with Pn408.
Set the machine's vibration frequency as a parameter of the notch filter.
Q value = 0.7
Q value = 1.0
Notch Filter
Frequency (Hz)
-300
-200
-100
0
100
2
10
10
3
10
4
Gain
(db)
-300
-200
-100
0
100
2
10
10
3
10
4
Notch Filter
Frequency (Hz)
Gain
(db)
2
10
10
3
10
4
-400
-300
-200
-100
0
Notch Filter
Frequency (Hz)
Phase
(deg)
2
10
10
3
10
4
-400
-300
-200
-100
0
Notch Filter
Frequency (Hz)
Phase
(deg)
Parameter
Meaning
When Enabled Classification
Pn408
n.
0
[Factory setting]
Disables 1st notch filter.
Immediately
Setup
n.
1
Enables 1st notch filter.
n.
0
[Factory setting]
Disables 2nd notch filter.
n.
1
Enables 2nd notch filter.
Pn409
1st Notch Filter Frequency
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Tuning
Pn40A
1st Notch Filter Q Value
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 1000
0.01
70
Immediately
Tuning
Pn40B
1st Notch Filter Depth
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1000
0.001
0
Immediately
Tuning
Pn40C
2nd Notch Filter Frequency
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Tuning
Pn40D
2nd Notch Filter Q Value
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 1000
0.01
70
Immediately
Tuning
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque
