Panasonic MINAS A5-series Operating Instructions Manual page 250

5
Adjustment
In case of a low machine stiffness, you cannot set up a higher gain because vibration and
noise occur due to oscillation caused by axis distortion or other causes. By suppressing
the resonance peak at the notch filter, higher gain can be obtained or the level of vibra-
tion can be lowered.
1. Torque command filter (Pr1.04 and Pr1.09)
Sets up the filter time constant so as to damp the frequency at vicinity of resonance
frequency. You can obtain the cut off frequency of the torque command filter in the
following formula.
Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)
2. Notch filter (Pr2.00, 2.07 to Pr2.12)
• Adaptive filter
• Notch filter (Pr2.01 to 2.12)
5-20
4. Manual Gain Tuning (Basic)
Suppression of Machine Resonance
MINASA-5 series feature the adaptive filter. With this filter you can control vibra-
tion of the load which resonance points vary by machine by machine and normal
notch filter or torque filter cannot respond. The adaptive filter is validated by set-
ting up Pr23 (Adaptive filter mode setup) to 1. Enter the action command with
Pr2.00 Adaptive filter mode set to a value other than 0.
If the resonance point affects the motor speed, parameters of 3rd notch filter and/
or 4th notch filters are automatically set according to the number of adaptive filters.
Pr2.00 Adaptive filter mode
Pr2.07 3rd notch frequency
Pr2.08
3rd notch width selection
Pr2.09 3rd notch depth selection
Pr2.10
4th notch frequency
Pr2.11
4th notch width selection
Pr2.12 4th notch depth selection
MINASA-5 series feature 4 normal notch filters. You can adjust frequency and
width and depth.
Pr2.01
1st notch frequency
Pr2.02 1st notch width selection
Pr2.03
1st notch depth selection
Pr2.04
2nd notch frequency
Pr2.05 2nd notch width selection
Pr2.06
2nd notch depth selection
Pr2.07
3rd notch frequency
Pr2.08 3rd notch width selection
Pr2.09
3rd notch depth selection
Pr2.10 4th notch frequency
Pr2.11 4th notch width selection
Pr2.12
4th notch depth selection
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The notch filter function will be invalidated by setting up this parameter to "5000".
1: Adaptive filter is valid
In no resonance point is found, the frequency is set to
5000.
Automatically set when the adaptive filter is active.
Notch frequency is automatically set to the 2nd
resonance frequency estimated by the adaptive filter.
In no resonance point is found, the frequency is set to
5000.
Automatically set when 2 adaptive filters are active.
Set the center frequency of the 1st notch filter.
Set the width of notch at the center frequency of the 1st
notch filter.
Set the depth of notch at the center frequency of the
1st notch filter.
Set the center frequency of the 2nd notch filter.
Set the width of notch at the center frequency of the
2nd notch filter.
Set the depth of notch at the center frequency of the
2nd notch filter.
Set the center frequency of the 3rd notch filter.
Set the width of notch at the center frequency of the 3rd
notch filter.
Set the depth of notch at the center frequency of the
3rd notch filter.
Set the center frequency of the 4th notch filter.
Set the width of notch at the center frequency of the 4th
notch filter.
Set the depth of notch at the center frequency of the
4th notch filter.
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