Panasonic A4P Series Suppression of Machine Resonance, Adaptive filter SV.Pr23, SV.Pr2F

Manual Gain Tuning (Basic)

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.

SV.Pr23￿Adaptive filter mode￿	1 : Adaptive filter is valid.￿
SV.Pr2F Adaptive filter frequency	Displays the table No, corresponding to adaptive filter frequency (not changeable)

• 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.

￿	￿	Set up lower a frequency by 10% from the ￿
SV.Pr1D￿1st notch frequency￿		measured one through frequency
￿	￿	characteristics analysis of the PANATERM®.￿
￿	1st notch ￿	Set up according to the resonance
SV.Pr1E￿width selection￿		characteristics.￿
￿	￿	Set up lower a frequency by 10% from the ￿
SV.Pr28￿	2nd notch frequency￿	measured one through frequency
￿	￿	characteristics analysis of the PANATERM®.￿
SV.Pr29￿	2nd notch width selection ￿	Set up according to the resonance
SV.Pr2A	2nd notch depth selection	characteristics.

Machine characteristics at resonance

Resonance

gain￿

￿

Anti-resonance

Notch filter ￿	frequency
characteristics

gain￿

￿

Notch

frequency

torque￿ command

frequency automatic following

width

frequency

width

torque ￿ command ￿ after filtering

Depth￿

￿

￿ frequency

	Adaptive filter		1st notch filter		2nd notch filter
	Suppress resonance point ￿		Copying of the setup from the ￿		Adjustment of	frequency, ￿
			adaptive filter to 1st notch filter ￿
	instantaneously.				width and depth is enabled.
(		)	( is enabled. (refer to P.151) )	(
						)

Example of application machine

Gain

frequency

Machine which resonance point ￿ varies by each machine or by aging

Gain

frequency

Machine which has ￿

multiple resonance points

Gain

frequency

velocity response

Machine which has small peak ￿ nearby velocity response

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