Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 95 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD(6) Description of the adaptive filterIf Servo parameter No.23 (adaptive filter mode) is set to a value other than 0, the adaptive filter becomesenabled.In an actual operation state, resonance frequency is estimated based on the vibration component,which appears in motor speed, and resonance point vibration is reduced by removing resonancecomponent from the torque command by the adaptive filter.The adaptive filter may not function normally under the following conditions. In such a case, takeanti-resonance measures using the 1st notch filter (Servo parameter No.1D and 1E) or 2nd notchfilter (Servo parameter No.28-2A) in accordance with the manual tuning procedure.Conditions under which the adaptive filter is prevented from functioningResonance pointWhen the resonance frequency is 300 [Hz] or lessWhen resonance peak is low, or control gain is low; and its influence does notappear on the motor speedWhen plural resonance points reside inLoad When a motor speed fluctuation having a high frequency component is caused dueto a non-linear element such as backlash etc.Command pattern When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]When Servo parameter No.23 (adaptive filter mode) is except 0, the adaptive filter may become disabled.Refer to the nullification of adaptive filters shown in the item (3) of 11-4.(7) Caution 2[1] Immediately after the first turning the servo ON at start up, or when Servo parameter No.22(Machine stiffness at auto tuning) is stated up, sometimes a noise or vibration may be generateduntil the load inertia is determined or the adaptive filter is stabilized. But, when the machinegets stabilized soon, there is no problem. But, when such problem as vibration or noisecontinues during a period of 3 reciprocal operations, etc. occurs frequently, take the followingmeasures.1) Write the parameter of normal operation into the EEPROM.2) Decrease the Servo parameter No.22 (Machine stiffness at auto tuning).3) Set Servo parameter No.23 (adaptive filter mode) to 0, and make the adaptive filter disabled.4) Set up the notch filter manually.[2] After a noise or vibration has occurred, Servo parameter No.20 (Inertia ratio) and/or Servoparameter No.2F (Adaptive filter frequency) may have been changed into an extreme value. Insuch a case also, take the above measures.[3] In the results of the real time auto gain tuning, Servo parameter No.20 (Inertia ratio) and Servoparameter No.2F (Adaptive filter frequency) are written into the EEPROM every 30 minutes.And auto tuning is carried out using the data as the initial value when power is on again.[4] When the real time auto gain tuning is set to “Enabled”, Servo parameter No.27 (velocity observer)becomes disabled (0) automatically.