Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-10
5.1.2 Adaptive filter
This function estimates the resonance frequency from the vibrating component which appears on the
motor velocity, and removes the resonance component from the torque command with adaptive filter, thus
reduces the resonance vibration.
Applicable range
This function works under the following condition.
Conditions under which the Adaptive filter is activated:
Control Mode

Applies to other control modes than torque control.
Others

Should be in servo-on condition

Elements other than control parameters, such as deviation counter clear command inhibit and torque limit are
appropriately set, enabling the motor to run normally.
Caution
In the following condition, normal operation may not be expected
–manually set the notch filter to
prevent resonance.
Conditions which obstruct adaptive filter action:
Resonance point

Resonance frequency is lower than the velocity response frequency x 3 (Hz).

Resonance peak is low, or control gain is low where the motor velocity is not affected by this.

Three or more resonance points exist.
Load

Motor velocity variation with high harmonic component is generated due to non-linear factors such as
backlash.
Command

Acceleration/deceleration is rapid such as 30000 [r/min] per 1 [s].
Relevant parameters
Set the operation of the adaptive filter to the following parameter.

Relevant parameters
Class No. Attribute Title Range Unit Function
2 00 B Adaptive filter mode
setup 0 to 6 - Select the operation mode of adaptive filter:
Setup
value Mode Description
0 Adaptive filter:
invalid The adaptive filter is disabled. Parameters
related to the 3rd and 4th notch filter hold the
current value.
1 Adaptive filter: 1
filter is valid One adaptive filter is enabled. Parameters
related to the 3rd notch filter will be updated
based on adaptive performance.
2 Adaptive filter: 2
filters are valid Two adaptive filters are enabled. Parameters
related to the 3rd and 4th notch filters will be
updated based on adaptive performance.
3 Resonance
frequency
measurement
mode Measure the resonance frequency. Result of
measurement can be checked with the setup
support software PANATERM for Multi.
Parameters related to the 3rd and 4th notch
filter hold the current value.
4 Clear result of
adaptation Parameters related to the 3rd and 4th notch
filter are disabled and results of adaptive
operation are cleared.
5 High accurate
adaptive filter Two adaptive filters are enabled. Parameters
related to the third and fourth notch filter are
updated depending on adaptive results.We
recommend this setting when using two
adaptive filters.
6 Maker uses It is the fit gain function of setup support
software PANATERM for Multi, and internally
used.Do not use this setting in normal
conditions.