Filter
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246
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 (Pr14 and 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 (Pr23, Pr2F)
MINASA-4 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 Pr23 (Adaptive filter mode setup) to 1.
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.253)
torque
command
after filtering
( ) ( ) ( )
• 1st and 2nd notch filter (Pr1D, 2E, 28, 29 and 2A)
MINASA-4 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.
Setup of adaptive filter mode
Adaptive filter frequency
Pr23
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
Selection of 2nd notch width
Selection of 2nd notch depth
Pr1D
Pr1E
Pr28
Pr29
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.