158
Manual Gain Tuning (Basic)
torque
command
Adaptive filter
frequency automatic following
frequency frequency
Depth
width
1st notch filter 2nd notch filter
width
Suppress resonance point
instantaneously.
Adjustment of frequency,
width and depth is enabled.
Gain
frequency
velocity response
Example of application machine
Machine which resonance point
varies by each machine or by aging
Machine which has
multiple resonance points
Machine which has small peak
nearby velocity response
Gain
frequency
Gain
frequency
Copying of the setup from the
adaptive filter to 1st notch filter
is enabled. (refer to P.151)
torque
command
after filtering
( ) ( ) ( )
Adaptive filter mode
Adaptive filter frequency
SV.Pr23
SV.Pr2F
1 : Adaptive filter is valid.
Displays the table No, corresponding to adaptive filter frequency (not changeable)
1st notch frequency
1st notch
width selection
2nd notch frequency
2nd notch width selection
2nd notch depth selection
SV.Pr1D
SV.Pr1E
SV.Pr28
SV.Pr29
SV.Pr2A
Notch
Notch filter
characteristics
Machine characteristics at resonance
gain
gain
frequency
frequency
Resonance
Anti-resonance
Set up lower a frequency by 10% from the
measured one through frequency
characteristics analysis of the PANATERM
®
.
Set up according to the resonance
characteristics.
Set up lower a frequency by 10% from the
measured one through frequency
characteristics analysis of the PANATERM
®
.
Set up according to the resonance
characteristics.
Suppression of Machine Resonance
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. You can suppress the resonance using two types of
filter in these cases.
1. Torque command filter (SV.Pr14 and SV.Pr1C)
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
• Adaptive filter (SV.Pr23, SV.Pr2F)
MINASA-A4P series feature the adaptive filter. With this filter you can control vibration 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 setting up SV.Pr23 (Adaptive filter mode) to 1.
• 1st and 2nd notch filter (SV.Pr1D, 2E, 28, 29 and 2A)
MINASA-A4P series feature 2 normal notch filters. You can adjust frequency and width with the 1st
filter, and frequency, width and depth with the 2nd filter.
