Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-34 Rev.2.00
⑨
Setup of notch filter
Please determine the vibration frequency of torque command by analog monitor output
wavegraphic function or FFT of
“
PANATERM
”
.
•
Please refer to P.5-25 for the measurement of frequency characteristics of
“
PANATERM
”.
•
For the measured vibration frequency, please carry out countermeasure of (A)
〜
(C).
•
After carring out countermeasure, because even if increase 1st velocity loop gain
（
Pr1.01
）
the oscillation or vibration will converge,so please go to back step
④
to check again.
Compared to before and after, continue to adjust by increase the value of 1st velocity
loop gain.
（
A
）
The vibration frequency is above 1.5 kHz
Please increase 1st torque filter time constant
（
Pr1.04
）
.
•
Take the formuka recorded in
⑤
as target, Until the allowable vibration value is
increased.
• If 1st torque filter time constant
（
Pr1.04
）
is set too large, low frequency vibration
may exacerbate. At this poin please reduce 1st velocity loop gain
（
Pr1.01
）
.
（
B
）
The vibration frequency is 600 Hz
〜
1500 Hz
Please set vibration frequency in 1st notch frequency(Pr2.01).
•
If the vibration does not decrease, please fine adjust the value of 1st notch
frequency(Pr2.01).
•
resonance peak can be measured by FFT of
“
PANATERM
”
.To reduce the
resonance peak so as to set up the notch filter. In the case of multiple resonance
peak, please set vibration frequency to 2nd
〜
4th notch frequency
（
Pr2.04, 2.07,
2.10
）
.
In the event of more than 600 Hz vibration, please increase 1st torque filter time
constant
（
Pr1.04
）
.
（
C
）
The vibration frequency is 400
〜
600 Hz
Determine the resonance frequency by FFT of “PANATERM”, please set the
resonance frequency to 1st notch frequency
（
Pr2.01
）
.
•
After set the value of 1st notch frequency (Pr2.01), detemine frequency
characteristic again, check to resonance peak reduction related matters.
• If the resonance peak does not decrease, adjust 1st notch frequency
（
Pr2.01
）、
1st notch width selection(Pr2.02)
、
1st notch depth selection(Pr2.03) to decrease
resonance peak.
•
When resonance peak is in the low frequency, for the vibration that is lower than the
anti resonance frequency, reduce to the value of 1st velocity loop gain
（
Pr1.01
）
.
•
When the resonance frequency is 350
〜
450 Hz, increse to 1st velocity loop gain
（
Pr1.01
）
, if the vibration occurs, please set to the notch filter . The vibration may
be decreased.
•
If the vibration does not decrease, The notch filter is disabled.
At this point, the 1st velocity loop gain(Pr1.01) reaches the upper limit.
4. Manual Gain Tuning (Basic)
Adjustment in Position Control Mode
Related page
• P.3-39 ... “Details of Parameter” • P.3-12 ... “Block Diagram of Control Mode”