Panasonic MINAS A5-series Operating Instructions Manual page 242

3. Adaptive filter
Adaptive filter
Caution
(1) Immediately after the first servo-on at start up; or after increasing stiffness setting with
the real-time auto-tuning enabled, abnormal sound or oscillation may be generated
until the adaptive filter stabilizes. If such abnormality lasts or repeats for 3 or more re-
ciprocating operations, take the following countermeasures.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain
3) Invalidate the adaptive filter by setting up Pr2.00 (Setup of adaptive filter mode) to
4) Set up the notch filter manually.
(2) Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th
notch filters. If such change occurs, disable the adaptive filter as described in step 3)
above, change setup value of Pr2.07 3rd notch frequency and Pr2.10 4th notch fre-
quency to 5000 (disable), and then enable the adaptive filter again.
(3) The 3rd filters (Pr2.07-Pr2.09) and 4th notch filters (Pr2.10-Pr2.12) are written to EE-
PROM every 30 minutes. Upon power up, these data are used as default values dur-
ing adaptive process.
Related page
• P.4-5... "Details of parameter"
5-12
tuning).
0. (Reset of inertia calculation and adaptive action)