Panasonic MINAS E-series - Manual (Page 140)

140
Manual Gain Tuning (Application)
To Reduce Mechanical Resonance
When mechanical stiffness is low, vibration or noise is generated due to the torsion of shaft, and thus you may not
be able to set the gain high. In such cases, you can suppress the resonance by using the following 2 types of
filters.
1. Torque Command Filter (Pr14, Pr1C)
Set a filter time constant so that the attenuation will take place around the resonance frequency. You can
determine the cutoff frequency with the following expression:
Cutoff frequency (Hz) fc
1/ (2 π x parameter setting x 0.00001)
2. Notch filter
Adaptive filter (Pr21, Pr2F)
By using an adaptive filter, MINAS-E series can control the vibration in load that is difficult for a conven-
tional notch filter or torque filter to control, such as different resonance points for every device. However,
you can enable the adaptive filter by setting Pr21 (Real time auto tuning set-up) to 1 to 3 or 7 when Pr02=2.
Notch
Frequency
Frequency
Antiresonance
Gain
Gain
Antiresonance
Frequency
Resonance peak
will disappear
Machine characteristics at resonance
f
Approx. 0.9f
Set this slightly lower
Frequency
Frequency
Antiresonance
Frequency
Resonance peak
will drop
Machine characteristics at resonance
f
–3dB
Cutoff frequency
Characteristics of notch filter Characteristics of torque command filter
Resonance
Pr21 Real time auto
tuning set-up
1 - 3, 7: Adaptive filter enabled.
1st notch filter (Pr1D, Pr1E)
Match notch frequency of a notch filter to mechanical resonance frequency.
Pr2F Adaptive filer
frequency
It shows a table No. that
corresponds to adaptive filter
frequency (change prohibited).
Pr1D 1st notch
frequency
Set this value about 10% lower than
the resonance frequency measured
with the frequency characteristic
analysis function of PANATERM ® .
Pr1E 1st notch width
selection
Set this in accordance with
characteristics of resonance
points.