Automatic Notch Filter Tuning Function - Sanyo SUPER BL P5 Manual

7. EXPLANATION OF PARAMETERS

7.1.9.3 Automatic notch filter tuning function

● Outline of Automatic notch filter tuning function (Tune IBEF)
The automatic notch filter tuning function operates the motor through the remote operator and estimates
resonance point of current loop from its operating status, and proper parameters are automatically set
as notch filter frequency. Current command BEF1 parameter (IBF1) is set using this function.
● Precautions on working and load conditions
When automatic notch filter tuning is executed, forward/backward revolution is performed. Accordingly,
secure one turn or more for both forward and backward revolution as the motor operating range. Use
this function only when safety is secured even under vibrating conditions and no damage to the machine
occurs. In the following cases, proper parameters may not be able to set by the automatic notch filter
tuning function or a tuning error may occur ("Tn_F Error" is displayed).
•
The load inertia is significantly larger than that allowed.
•
The variation in load inertia or torque is large.
•
The backlash of ball screws and gears is large.
•
While offline automatic tuning function is executed, the remote operator is dismounted from the
Amplifier main body (remote operator POWER OFF).
•
While offline automatic tuning function is executed, main circuit power supply is cut off or an alarm occurs
•
When the output current is limited by current limit permit input.
•
The sequence current limit value (page 12 of Mode 1) is set under sine waveform current command
peak.
•
The gain switching through external input is enabled and the changeover input signal is ON (during
gain switching).
•
The slide switch on the front of the amplifier is set to GAIN and the rotary switch is set to other than 0.
•
Over travel status
•
While command input is inhibited by holding brake timing or others.
● Automatic notch filter tuning operation (Tune IBEF)
•
When automatic notch filter tuning is executed, forward/backward revolution is performed for about
1.5 seconds with a current command of 200 Hz to 1kHz sine waveform. For the motor operating
range at this time, secure one turn or more as standard, though this varies depending on the load
conditions.
•
Current command peak value of sine waveform is equivalent to rated current (rated torque) at
standard setting. User setting value (page3 of Mode3) can be also used as current command peak
value. Execute tuning with appropriate current command according to load status.
•
During automatic notch filter tuning, notch filter set by parameter (IBF1, IBF2) is invalid.
•
When automatic notch filter tuning is ended normally, proper parameters are automatically set and
the parameters are stored in the non-volatile memory.
•
After execution of this automatic notch filter tuning function, a deviation of the position loop may be
left. For this reason, make sure to clear the deviation before returning to normal operation.
•
In this automatic notch filter tuning, a maximum resonance point is estimated and automatically set
into the current command BEF1 (IBF1). When there are more than one resonance points,
manually set the resonance point into current command BEF2 (IBF2).
•
When notch filter is not necessary as a result of automatic notch filter tuning, current command
BEF1 (IBF1) shall be set to 1000 Hz (filter invalid).
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