Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-11
The adaptive filter automatically sets up the following parameters.

Relevant parameters
Class No. Attribute Title Range Unit Function
2 07 B 3rd notch frequency 50 to
5000
Hz Notch frequency is automatically set to the 1st resonance
frequency estimated by the adaptive filter. In no resonance
point is found, the frequency is set to 5000.
2 08 B 3rd notch width
selection 0 to 20 - Automatically set when the adaptive filter is active.
2 09 B 3rd notch depth
selection 0 to 99 - Automatically set when the adaptive filter is active.
2 10 B 4th notch frequency 50 to
5000
Hz Notch frequency is automatically set to the 2nd resonance
frequency estimated by the adaptive filter. In no resonance
point is found, the frequency is set to 5000.
2 11 B 4rd notch width
selection 0 to 20 - Automatically set when 2 adaptive filters are active.
2 12 B 4rd notch depth
selection 0 to 99 - Automatically set when 2 adaptive filters are active.
How to use
Enter the action command with Pr2.00 (Adaptive filter mode setup) set to a value other than 0.
If the resonance point affects the motor velocity, parameters of 3rd notch filter and/or 4th notch filters
are automatically set according to the number of adaptive filters.
Other cautions

Immediately after the first servo-on at start up; or after increasing stiffness setting with the Real-time auto
tuning enabled, abnormal sound or oscillation may be generated until the adaptive filter stabilizes. If such
abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
-
Write the parameters which have given the normal operation into EEPROM.
-
Lower the setting value of Pr0.03 (Real-time auto tuning machine stiffness setup).
-
Invalidate the adaptive filter by setting Pr2.00 (Adaptive filter mode setup) to 0.
-
Set up the notch filter manually.

Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th notch filters. If such
change occurs, disable the adaptive filter as described in step 3) above, change setup value of Pr 2.07 3rd
notch frequency and Pr 2.10 "4th notch frequency" to 5000 (disable), and then enable the adaptive filter
again.

The 3rd filters (Pr 2.07) and 4th notch filters (Pr 2.10) are written to EEPROM every 30minutes. Upon power
up, these data are used as default values during adaptive process.