Suppression Of Machine Resonance - Panasonic minas a4 series Instruction Manual

Manual Gain Tuning (Basic)

Suppression of Machine Resonance

In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to
oscillation caused by axis distortion or other causes. You can suppress the resonance using two types of
filter in these cases.
1. Torque command filter (Pr14 and Pr1C)
Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency
You can obtain the cut off frequency of the torque command filter in the following formula.
Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)
2. Notch filter
• Adaptive filter (Pr23, Pr2F)
MINASA-4 series feature the adaptive filter. With this filter you can control vibration of the load which
resonance points vary by machine by machine and normal notch filter or torque filter cannot respond.
The adaptive filter is validated by setting up Pr23 (Adaptive filter mode setup) to 1.
Pr23 Setup of adaptive filter mode
Pr2F Adaptive filter frequency
• 1st and 2nd notch filter (Pr1D, 2E, 28, 29 and 2A)
MINASA-4 series feature 2 normal notch filters. You can adjust frequency and width with the 1st filter,
and frequency, width and depth with the 2nd filter.
Pr1D 1st notch frequency
Pr1E 1st notch width selection
Pr28 2nd notch frequency
Pr29 Selection of 2nd notch width
Pr2A Selection of 2nd notch depth
torque
command
frequency automatic following
Adaptive filter
(
Suppress resonance point
instantaneously.
Example of application machine
Gain
Machine which resonance point
varies by each machine or by aging
246
1 : Adaptive filter is valid.
Displays the table No, corresponding to adaptive filter frequency (not changeable)
Set up lower a frequency by 10% from the
measured one through frequency characteristics
analysis of the PANATERM
Set up according to the resonance characteristics.
Set up lower a frequency by 10% from the
measured one through frequency characteristics
analysis of the PANATERM
Set up according to the resonance characteristics.
width
frequency
1st notch filter
) (
Copying of the setup from the
adaptive filter to 1st notch filter
is enabled. (refer to P.253)
Gain
frequency
Machine which has
multiple resonance points
Machine characteristics at resonance
® .
gain
Notch filter
characteristics
® .
gain
Depth
) (
Adjustment of frequency,
width and depth is enabled.
Gain
frequency
velocity response
Machine which has small peak
nearby velocity response
Resonance
Anti-resonance
frequency
Notch
frequency
width
torque
command
after filtering
frequency
2nd notch filter
)
frequency