Panasonic MINAS A6 Multi Series Technical Reference page 139

5.2Manual adjusting function
5.2.14 Two-stage torque filter
In addition to usual 1st and 2nd torque filters (Pr1.04 and Pr1.09), another torque filter can be set.
High-frequency vibration component can be suppressed by the use of the 2-stage torque filter.
Applicable range
This function can't be applied unless the following conditions are satisfied.
Conditions for operating 2-stage torque filter:
 Can be used in all control modes.
Control Mode
 In servo-ON state
Others
 Elements, such as deviation counter clear command input inhibition and torque limit, other than control parameter are
set properly, and motor is running without any problem.
Cautions
 If the setting value is increased excessively, the control may become unstable to produce vibration. Specify
proper setting value while checking the status of the device.
 If Pr6.43 "2-stage torque filter attenuation term" is changed during operation, vibration may be generated.
Change the value while the motor is stopped.
Relevant parameters
 Relevant parameters
Class No. Attribute
6 42 B
6 43 B
How to use
Set a 2-stage torque filter if high-frequency vibration can't be removed only using usual 1st and 2nd
torque filters. Setting Pr6.43 "2-stage torque filter attenuation term" to 1000 (ζ=1.0), adjust Pr6.42 "2-stage
torque filter time constant".
5-55
Title Range
2-stage torque 0 to
2500
filter time
constant
2-stage torque 0 to
1000
filter attenuation
term
Unit Function
0.01ms Sets 2-stage torque filter time constant.
The time constant is invalid if 0 is specified.
[When used for the secondary filter as Pr6.43 ≥ 50]
The time constants that can be used are 4 to 159 (0.04 to 1.59
ms). (Equivalent to 100 to 4000 Hz in frequency)
Setting values 1 to 3 works as 4 (4000 Hz), and 159 to 2500
works as 159 (100 Hz).
- Sets attenuation term of 2-stage torque filter.
The filter degree of the 2-stage torque filter is changed according
to the setting value.
0 to 49: Operates as the 1st filter.
50 to 1000: Operates as a 2nd filter and becomes a 2nd filter
with ζ = 1.0 if setting value is 1000. As the setting
value is decreased, the filter becomes vibrational.
Use with a setting value 1000 basically.