Torque; Model-Type Damping Filter - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
This function reduces vibration at the edge or over the entire equipment by removing the
vibration frequency components specified by the positional command.
The model-type damping filter can also remove resonance frequency components as well
as anti-resonance frequency components, enhancing the effect of a conventional damp-
ing filter to generate smooth torque commands and offering a better damping effect.
In addition, the removal of anti-resonance frequency components and resonance fre-
quency components can increase the responsiveness of the command response filter,
which improves the settling time.
However, unlike a conventional damping filter, the model-type damping filter cannot
obtain vibration components from the position sensor for the measurement of anti-
resonance frequency components and resonance frequency components, which thus
requires frequency characteristics analysis and the setting of optimum parameter values.
Positional
command
Model-type
Damping
filter
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Control mode • Control mode to be Two-degree-of-freedom control position control.
Caution
This function does not work properly or no effect is obtained under the following condi-
tions.
Load
condition
Related page
• P.4-6 to P.4-85... "Details of parameter"
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5. Manual Gain Tuning (Application)

Model-type damping filter

Torque

command
position/velocity
control
Motor
position
Servo Driver
Conditions under which the Model type resonance oppression notch
Conditions which obstruct the Model type resonance oppression notch
• Vibration is triggered by other factors than command (such as disturbance).
• Resonance frequency and antiresonance frequency is out of the range of
5.0-300.0 [Hz].
• P.7-26 "Outline of Setup support software "PANATERM"
Motor
Current
Current
Motor
control
Encoder
filter is activated
filter effect
1
2
3
4
Load
5
6
7
5-43