Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 114 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD11-5 Frequency characteristicsOverviewThis amplifier is capable of measuring the machine resonance point and measuring the frequencycharacteristics including load and displaying a board diagram by use of PANATERM(sold separately).Further, measurement result can be saved in a file.(2) CautionThe speed of motor drastically changes during measurement. Pay full attention to safety.In performing measurement, keep the servo ready for turning off if worse comes to the worst.When it is possible that the machine may break down because of drastic motion of motor, do not use thisfunction.[1] If any trouble should occur during measurement of frequency characteristics, cut off power as soon aspossible, or turn off the servo.[2] Keep the gain as low as possible in measuring.When frequency characteristics are measured, present position outputs (P1OUT - P32OUT) all turn off.Homing return operation is required for step operation.Signals respectively for CW drive prohibition input, CCW drive prohibition input, instantaneous stop,deceleration stop, and temporary stop are ignored. Be careful.(3) Setting of measurement conditionCondition DescriptionAmplitude The sum of amplitude and offset is limited within the range not to exceed themaximum rotation speed.* When the amplitude is increased, measurement precision improves, but when itis increased too much, torque is saturated, which lowers the precision on thecontrary. First start from a small amplitude, and increase it little by little aswatching the measurement result.Offset The sum of amplitude and offset is limited within the range not to exceed themaximum rotation speed.* During measurement, the offset setting is the average speed command inoperation.Polarity is in CCW direction for +, and CW direction for -. When offset is setabove the setting of amplitude to make the motor rotate always in one direction, agood measurement result can be obtained. However, when movable range issmall, movement may exceed its limit. Be careful. Rotation of motor duringmeasurement operation can be calculated approximately by the followingequation. Before starting measurement, always make sure that the movementlimit is not exceeded.Standard of rotation [r] = Offset [r/min] x 0.017 x (Sampling rate + 1)Sampling rate * When sampling rate is increased, the measurement precision in low frequencyband improves, while measurement takes long. On the contrary, when samplingrate is decreased, the measurement precision in high frequency band improves.First start from 1 and adjust the sampling rate as watching the result ofmeasurement.