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1		-Servo.1 User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
	1	+Servo.Manual.02 VD2 SA Series.WebHome

Author

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1		-XWiki.Joey
	1	+XWiki.Stone

Content

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3	3	The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4	4
5	5	(% style="text-align:center" %)
6		-[[image:image-20220608174118-1.png]]
	6	+(((
	7	+(% class="wikigeneratedid" style="display:inline-block" %)
	8	+[[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
	9	+)))
7	7
8		-Figure 7-1 Gain adjustment process
9		-
10	10	The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
11	11
	13	+(% class="box infomessage" %)
	14	+(((
12	12	✎**Note: **Before adjusting the gain, it is recommended to perform a jog trial run first to ensure that the servo motor can operate normally! The gain adjustment process description is shown in the table below.
	16	+)))
13	13
14	14	(% class="table-bordered" %)
15		-|(% colspan="3" style="text-align:center; vertical-align:middle" %)**Gain adjustment process**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)**Detailed chapter**
16		-|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HInertiarecognition]]__
17		-|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HAutomaticgainadjustment]]__
18		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HManualgainadjustment]]__
19		-|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__
20		-|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HMechanicalresonancesuppressionmethods]]__
	19	+|=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
	20	+|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
	21	+|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
	22	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
	23	+|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
	24	+|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
21	21
22	22	Table 7-1 Description of gain adjustment process
23	23
...	...	@@ -37,41 +37,34 @@
37	37	|(((
38	38	**Before performing online load inertia recognition, the following conditions should be met:**
39	39
40		-The maximum speed of the motor should be greater than 300rpm;
	44	+* The maximum speed of the motor should be greater than 300rpm;
	45	+* The actual load inertia ratio is between 0.00 and 100.00;
	46	+* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
	47	+* The backlash of the load transmission mechanism is within a certain range;
41	41
42		-The actual load inertia ratio is between 0.00 and 100.00;
43		-
44		-The load torque is relatively stable, and the load cannot change drastically during the measurement process;
45		-
46		-The backlash of the load transmission mechanism is within a certain range;
47		-
48	48	**The motor's runable stroke should meet two requirements:**
49	49
50		-There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
51		-
52		-Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
53		-
54		-Meet the requirement of inertia recognition turns P03-05.
55		-
56		-Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
57		-
58		-During the automatic load inertia recognition process, if vibration occurs, the load inertia identification should be stopped immediately.
	51	+* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
	52	+* Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
	53	+* Meet the requirement of inertia recognition turns P03-05.
	54	+* Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
	55	+* During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
59	59	)))
60	60
61	61	The related function codes are shown in the table below.
62	62
63	63	(% class="table-bordered" %)
64		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	61	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)(((
65	65	**Setting method**
66		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	63	+)))|=(% style="text-align: center; vertical-align: middle; width: 213px;" %)(((
67	67	**Effective time**
68		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
69		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	65	+)))|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 118px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 276px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	66	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
70	70	Operation setting
71	71	)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
72	72	Effective immediately
73		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)200|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
74		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	70	+)))|(% style="text-align:center; vertical-align:middle; width:117px" %)300|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
	71	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
75	75	Inertia recognition turns
76	76	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
77	77	Shutdown setting
...	...	@@ -78,7 +78,7 @@
78	78	)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
79	79	Effective immediately
80	80	)))|(% style="text-align:center; vertical-align:middle; width:117px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
81		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	78	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
82	82	Inertia recognition maximum speed
83	83	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
84	84	Shutdown setting
...	...	@@ -89,7 +89,7 @@
89	89
90	90	The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91	91	)))|(% style="text-align:center; vertical-align:middle" %)rpm
92		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	89	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
93	93	Parameter recognition rotation direction
94	94	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
95	95	Shutdown setting
...	...	@@ -113,7 +113,7 @@
113	113
114	114	The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
115	115
116		-== **Automatic gain adjustment** ==
	113	+== Automatic gain adjustment ==
117	117
118	118	Automatic gain adjustment means that through the rigidity level selection function P03-02, the servo drive will automatically generate a set of matching gain parameters to meet the requirements of rapidity and stability.
119	119
...	...	@@ -126,10 +126,10 @@
126	126	The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference.
127	127
128	128	(% class="table-bordered" %)
129		-|(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
130		-|(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
131		-|(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
132		-|(% style="text-align:center; vertical-align:middle" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
	126	+|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
	127	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
	128	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
	129	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
133	133
134	134	Table 7-3 Experience reference of rigidity grade
135	135
...	...	@@ -137,20 +137,14 @@
137	137
138	138	When debugging with the host computer debugging software, automatic rigidity level measurement can be carried out, which is used to select a set of appropriate rigidity grades as operating parameters. The operation steps are as follows:
139	139
140		-Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	137	+* Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	138	+* Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
	139	+* Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
	140	+* Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
	141	+* Step5 After the inertia recognition test is completed, click "Save Inertia Value";
	142	+* Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
	143	+* Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
141	141
142		-Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
143		-
144		-Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
145		-
146		-Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
147		-
148		-Step5 After the inertia recognition test is completed, click "Save Inertia Value";
149		-
150		-Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
151		-
152		-Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
153		-
154	154	(% class="table-bordered" %)
155	155	|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
156	156	|(((
...	...	@@ -160,26 +160,24 @@
160	160	)))
161	161
162	162	(% class="table-bordered" %)
163		-|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:73px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	154	+|(% style="text-align:center; vertical-align:middle; width:84px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:138px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
164	164	**Setting method**
165		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	156	+)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
166	166	**Effective time**
167		-)))|(% style="text-align:center; vertical-align:middle; width:134px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
168		-|(% style="text-align:center; vertical-align:middle; width:121px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:73px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	158	+)))|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	159	+|(% style="text-align:center; vertical-align:middle; width:84px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:138px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
169	169	Operation setting
170		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	161	+)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
171	171	Effective immediately
172		-)))|(% style="text-align:center; vertical-align:middle; width:134px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
173		-0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
174		-
175		-1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
176		-
177		-2: Online automatic parameter self-adjusting mode (Not implemented yet)
	163	+)))|(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
	164	+* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
	165	+* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
	166	+* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
178	178	)))|(% style="text-align:center; vertical-align:middle" %)-
179	179
180	180	Table 7-4 Details of self-adjusting mode selection parameters
181	181
182		-== **Manual gain adjustment** ==
	171	+== Manual gain adjustment ==
183	183
184	184	When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
185	185
...	...	@@ -186,10 +186,11 @@
186	186	The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
187	187
188	188	(% style="text-align:center" %)
189		-[[image:image-20220608174209-2.png]]
	178	+(((
	179	+(% class="wikigeneratedid" style="display:inline-block" %)
	180	+[[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
	181	+)))
190	190
191		-Figure 7-2 Basic block diagram of servo loop gain
192		-
193	193	The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
194	194
195	195	The default current loop gain of the servo drive has ensured sufficient responsiveness. Generally, no adjustment is required. Only the position loop gain, speed loop gain and other auxiliary gains need to be adjusted.
...	...	@@ -197,111 +197,125 @@
197	197	This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are are below.
198	198
199	199	(% class="table-bordered" %)
200		-|(% style="text-align:center; vertical-align:middle; width:450px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:751px" %)**Name**
201		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-01|(% style="width:751px" %)The 1st position loop gain
202		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
203		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
204		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
205		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
206		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
207		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P04-04|(% style="width:751px" %)Torque filter time constant
	190	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
	191	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
	192	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
	193	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
	194	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
	195	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
	196	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
	197	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
208	208
209		-**(1) Speed loop gain**
	199	+**Speed loop gain**
210	210
211	211	In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of servo system and the better the speed followability. When noise occurs in the system, reduce the speed loop gain. The related function codes are shown as below.
212	212
213	213	(% class="table-bordered" %)
214		-|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	204	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
215	215	**Setting method**
216		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	206	+)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
217	217	**Effective time**
218		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
219		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-02|(% style="text-align:center; vertical-align:middle; width:151px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	208	+)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	209	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-02|(% style="text-align:center; vertical-align:middle; width:163px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
220	220	Operation setting
221		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	211	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
222	222	Effective immediately
223		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
224		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-05|(% style="text-align:center; vertical-align:middle; width:151px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	213	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	214	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
225	225	Operation setting
226		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	216	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
227	227	Effective immediately
228		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	218	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
229	229
230	230	Table 7-5 Speed loop gain parameters
231	231
232		-**(2) Speed loop integral time constant**
	222	+(% style="text-align:center" %)
	223	+(((
	224	+(% class="wikigeneratedid" style="display:inline-block" %)
	225	+[[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
	226	+)))
233	233
	228	+**Speed loop integral time constant**
	229	+
234	234	The speed loop integral time constant is used to eliminate the speed loop deviation. Decreasing the integral time constant of the speed loop can increase the speed of the speed following. If the set value is too small, is will easily cause speed overshoot or vibration. When the time constant is set too large, the integral action will be weakened, resulting in a deviation of the speed loop. Related function codes are shown as below.
235	235
236	236	(% class="table-bordered" %)
237		-|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:185px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	233	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 98px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
238	238	**Setting method**
239		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	235	+)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
240	240	**Effective time**
241		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
242		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	237	+)))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 78px;" %)**Unit**
	238	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
243	243	1st speed loop integral time constant
244		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	240	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
245	245	Operation setting
246		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	242	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
247	247	Effective immediately
248		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)100 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
249		-0.1
250		-
251		-ms
	244	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	245	+0.1ms
252	252	)))
253		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	247	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
254	254	2nd speed loop integral time constant
255		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	249	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
256	256	Operation setting
257		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	251	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
258	258	Effective immediately
259		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
260		-0.1
261		-
262		-ms
	253	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	254	+0.1ms
263	263	)))
264	264
265	265	Table 7-6 Speed loop integral time constant parameters
266	266
267		-**(3) Position loop gain**
	259	+(% style="text-align:center" %)
	260	+(((
	261	+(% class="wikigeneratedid" style="display:inline-block" %)
	262	+[[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
	263	+)))
268	268
	265	+**Position loop gain**
	266	+
269	269	Determine the highest frequency of the position instruction that the position loop can follow the change. Increasing this parameter can speed up the positioning time and improve the ability of the motor to resist external disturbances when the motor is stationary. However, if the setting value is too large, the system may be unstable and oscillate. The related function codes are shown as below.
270	270
271	271	(% class="table-bordered" %)
272		-|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:164px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	270	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 159px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
273	273	**Setting method**
274		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	272	+)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
275	275	**Effective time**
276		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:355px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
277		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-01|(% style="text-align:center; vertical-align:middle; width:164px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	274	+)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	275	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:159px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
278	278	Operation setting
279		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	277	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
280	280	Effective immediately
281		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)400|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
282		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-04|(% style="text-align:center; vertical-align:middle; width:164px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	279	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)400|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	280	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:159px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
283	283	Operation setting
284		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
285	285	Effective immediately
286		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)35|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	284	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)35|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
287	287
288	288	Table 7-7 Position loop gain parameters
289	289
290		-**(4) Torque instruction filter time**
	288	+(% style="text-align:center" %)
	289	+(((
	290	+(% class="wikigeneratedid" style="display:inline-block" %)
	291	+[[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
	292	+)))
291	291
	294	+**Torque instruction filter time**
	295	+
292	292	Selecting an appropriate torque filter time constant could suppress mechanical resonance. The larger the value of this parameter, the stronger the suppression ability. If the setting value is too large, it will decrease the current loop response frequency and cause needle movement. The related function codes are shown as below.
293	293
294	294	(% class="table-bordered" %)
295		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	299	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 200px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
296	296	**Setting method**
297		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	301	+)))|=(% style="text-align: center; vertical-align: middle; width: 133px;" %)(((
298	298	**Effective time**
299		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:359px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
300		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	303	+)))|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 328px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	304	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
301	301	Operation setting
302		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	306	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
303	303	Effective immediately
304		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)50|(% style="width:359px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
	308	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)50|(% style="width:328px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
305	305
306	306	Table 7-8 Details of torque filter time constant parameters
307	307
...	...	@@ -309,21 +309,25 @@
309	309
310	310	Speed feedforward could be used in position control mode and full closed-loop function. It could improve the response to the speed instruction and reduce the position deviation with fixed speed.
311	311
312		-Speed feedforward parameters are shown in __[[Table 7-9>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__. Torque feedforward parameters are shown in __[[Table 7-10>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__.
	316	+Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
313	313
314	314	Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
315	315
316	316	(% class="table-bordered" %)
317		-|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
318		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
	321	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 330px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 746px;" %)**Adjustment description**
	322	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
319	319	When the speed feedforward filter is set to 50 (0.5 ms), gradually increase the speed feedforward gain, and the speed feedforward will take effect. The position deviation during operation at a certain speed will be reduced according to the value of speed feedforward gain as the formula below.
320	320
321	321	Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
322	322	)))
323		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
	327	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
324	324
325	325	Table 7-9 Speed feedforward parameters
326	326
	331	+[[image:image-20220706155307-4.jpeg]]
	332	+
	333	+Figure 7-6 Speed feedforward parameters effect illustration
	334	+
327	327	(% class="table-bordered" %)
328	328	|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
329	329	|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
...	...	@@ -342,7 +342,7 @@
342	342	By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
343	343
344	344	(% style="text-align:center" %)
345		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
	353	+[[image:image-20220706155820-5.jpeg]]
346	346
347	347	**(2) Notch filter**
348	348
...	...	@@ -357,9 +357,9 @@
357	357	The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
358	358
359	359	(% style="text-align:center" %)
360		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/41.png?rev=1.1]]
	368	+[[image:image-20220706155836-6.png]]
361	361
362		-In formula (7-1), [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/42.png?rev=1.1]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/43.png?rev=1.1]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
	370	+In formula (7-1), [[image:image-20220706155946-7.png]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:image-20220706155952-8.png]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
363	363
364	364	**(2) Depth grade of notch filter**
365	365
...	...	@@ -370,12 +370,12 @@
370	370	(% style="text-align:center" %)
371	371	[[image:image-20220608174259-3.png]]
372	372
373		-Figure 7-3 Notch characteristics, notch width, and notch depth
	381	+Figure 7-7 Notch characteristics, notch width, and notch depth
374	374
375	375	(% style="text-align:center" %)
376		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/44.png?rev=1.1]]
	384	+[[image:image-20220706160046-9.png]]
377	377
378		-Figure 7-4 Frequency characteristics of notch filter
	386	+Figure 7-8 Frequency characteristics of notch filter
379	379
380	380	(% class="table-bordered" %)
381	381	|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

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