Panasonic A4P Series User Manual

158

torque
command

frequency automatic following

frequency

frequency

Depth

width

width

Suppress resonance point 

instantaneously.

Adjustment of  frequency, 

width and depth is enabled.

Gain 

frequency

velocity response

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.151)

torque 
command 
after filtering

(                   )

(                   )

(                   )

Adaptive filter mode

Adaptive filter frequency

SV.Pr23

SV.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

2nd notch width selection 

2nd notch depth selection 

SV.Pr1D

SV.Pr1E

SV.Pr28

SV.Pr29

SV.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. 

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.

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 / (2

π

 x parameter setup value x 0.00001)

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.

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.