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[4] Setting of notch filter
Measure the vibration frequency of the torque command using the waveform graphic function
or frequency characteristics measurement function etc. of the monitor output/set up support
software PANATERM.
- Based on the measured vibration frequency, carry out one of the steps (A)-(C).
- After the step above, since the upper limit of the 1st velocity loop gain (Servo parameter
No.11) may have been changed, carry out the step [3] again to check the upper limit.
Compare the values before and after the above step, continue the tuning using the setting by
which the 1st velocity loop gain (Servo parameter No.11) increases more largely.
(A) When the vibration frequency is 1.5 kHz or more
Set up a larger 1st torque filter time constant (Servo parameter No.14)
- For the absolute encoder (7-core 17-bit) , set up Servo parameter No.14 to approx. 25; for
the incremental encoder (5-core 2500P/r), set up Servo parameter No.14 to approx. 63 as a
reference target, increase the value until the vibration falls in allowable range.
- When the 1st torque filter time constant (Servo parameter No.14) is set up too large,
vibration of lower frequency may become large. In this case, reduce the value of the 1st
velocity loop gain (Servo parameter No.11).
(B) When the vibration frequency is 600 Hz – 1500 Hz
Set up the 1st notch frequency (Servo parameter No.1D) to the value of vibration frequency.
- When the vibration is not reduced, slightly change the value of Servo parameter No.1D
and 1E.
Resonance peak can be measured using the frequency characteristics function of the set up
support software PANATERM. Set up the notch filter so as to reduce the resonance
peak.
- When vibration of 600Hz or more is still generated, set up the 1st torque filter time
constant (Servo parameter No.14) to a larger value.
(C) When the vibration frequency is 400-600Hz
Set up the 1st notch frequency (Servo parameter No.1D) to the value of vibration frequency.
- Measure the resonance frequency using the frequency characteristics function etc. of the
set up support software PANATERM.
- Measure the frequency characteristics again and check that the resonance peak is
reduced.
- When the resonance peak is not reduced, adjust the 1st notch width selection (Servo
parameter No.1E) and the 1st notch frequency (Servo parameter No.1D) so that the
resonance peak is reduced.
- As for vibration of which resonance peak is in low frequency and is lower than the anti-
resonance frequency, set the 1st velocity loop gain (Servo parameter No.11) to a smaller
value.
- When the resonance frequency falls in approx. 350 – 450 Hz, increase the value of the
1st velocity loop gain (Servo parameter No.11) and set the notch filter at a point that
vibration begins to generate. The vibration may be reduced.
- When the vibration is not reduced, disable the notch filter. Determine the value of the
first speed loop gain as the upper limit value.
[5] Setting of torque filter time constant
When any operation noise is heard, gradually increase the value of the 1st torque filter time
constant (Servo parameter No.14).
To increase the response, gradually reduce the value of the 1st torque filter time constant (Servo
parameter No.14) and increase the value of the 1st velocity loop gain (Servo parameter No.11).
- As a reference value of the minimum value, it is recommended to set the value, for the
absolute encoder (7-core 17-bit), to10; for the incremental encoder (5-core 2500P/r), to 25.
A4P
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
- 102 -
No. SR-DSV09485
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