Panasonic minas a4 series Instruction Manual page 237

Caution
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until
the load inertia is identified (estimated) or the adaptive filter is stabilized, however, these are not failures
as long as they disappear immediately. If they persist over 3 reciprocating operations, take the following
measures in possible order.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode) to 0.
(Reset of inertia calculation and adaptive action)
4) Set up the notch filter manually.
(2) When abnormal noise and oscillation occur, Pr2F (Adaptive filter frequency) might have changed to
extreme values. Take the same measures as the above in these cases.
(3) Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. When you turn on the
power again, adaptive action will be executed using the latest data as initial values.
(4) The adaptive filter is normally invalidated at torque control, however, when you select torque control
while you set up Pr02 (Control mode setup) to 4 and 5, the adaptive filter frequency before mode switch-
ing will be held.
Invalidation of Adaptive Filter
When you set up Pr23 (Setup of adaptive filter) to 0, the adaptive filter function which automatically follows
the load resonance will be invalidated.
If you invalidate the adaptive filter which have been working correctly, noise and vibration may occur due to
the effect of resonance which have been suppressed.
Therefore, execute the copying function of the setup of adaptive filter (Pr2F) to the 1st notch frequency
(Pr1D) from the Fit-Gain screen of the front panel (refer to P.72, "Fit-Gain Screen" of Preparation), or set up
Pr1D (1st notch frequency) manually by using the table below, then invalidate this filter.
Pr2F 1st notch frequency [Hz]
0 (invalid)
1 (invalid)
2 (invalid)
3 (invalid)
4 (invalid)
5 1482
6 1426
7 1372
8 1319
9 1269
10 1221
11 1174
12 1130
13 1087
14 1045
15 1005
16 967
17 930
18 895
19 861
20 828
21 796
*Set up 1500 to Pr1D (1st notch frequency) in case of " invalid " of the above table.
Pr2F 1st notch frequency [Hz]
22 766
23 737
24 709
25 682
26 656
27 631
28 607
29 584
30 562
31 540
32 520
33 500
34 481
35 462
36 445
37 428
38 412
39 396
40 381
41 366
42 352
43 339
[Adjustment]
Pr2F 1st notch frequency [Hz]
44 326
45 314
46 302
47 290
48 279
49 269 (invalid when Pr22
50 258 (invalid when Pr22
51 248 (invalid when Pr22
52 239 (invalid when Pr22
53 230 (invalid when Pr22
54 221 (invalid when Pr22
55 213 (invalid when Pr22
56 205 (invalid when Pr22
57 197 (invalid when Pr22
58 189 (invalid when Pr22
59 182 (invalid when Pr22
60 (invalid)
61 (invalid)
62 (invalid)
63 (invalid)
64 (invalid)
> = 15)
> = 15)
> =
15)
> = 15)
> = 15)
> = 14)
> = 14)
> = 14)
> = 14)
> = 14)
> = 13)
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