Low-pass filter
It may also attenuate the amplitude of all high-frequency vibration components above the transition frequency to below the sensitive value by means of appropriate torque low-pass filter.
The torque command filtering can be set in 2 ways,
- Backend debugging software "P07 Group filtering parameters - torque filtering"
- Object Dictionary Object Word (2007-03h)
By setting a filtering-time constant, make the high-frequency range above the cutoff frequency in torque command be attenuated so as to suppress mechanical resonance.
The setting parameter for torque low-pass filtering is the filtering-time constant, with a unit of 0.01ms. The conversion relationship between the filtering-time constant τm and the filter cutoff frequency ƒc is:
