Two-Stage Torque Filter - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
In addition to existing 1st and 2nd torque filter (Pr1.04 and Pr1.09), the 3rd torque filter
can be set. This 2-stage torque filter will effectively suppress oscillating component in
high frequency range.
2nd gain selected
1st gain selected
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode Can be used in any control mode.
Others
Caution
• Excessively high setup value makes control unstable and may cause oscillation.
• Set to an appropriate value by checking condition of the device.
• Changing Pr6.43 2-stage torque filter attenuation term during operation may cause os-
cillation. Stop operation before changing the term.
Related page
• P.3-47,3-48,3-94... "Details of Parameter"
Rev.2.00
5. Manual Gain Tuning (Application)

Two-stage Torque Filter

2nd time constant
of torque filter
(Pr1.09)
Gain switching
1st time constant
of torque filter
(Pr1.04)
2-stage torque filter operating condition
• Should be servo-on condition.
• Parameters except for controls such as torque limit setup, are correctly
set, assuring that the motor can run smoothly.
Torque
command
2-stage torque filter
(Pr6.42, Pr6.43)
1
2
3
4
5
6
7
5-63