158Manual Gain Tuning (Basic)torque commandAdaptive filterfrequency automatic following frequency frequencyDepth width1st notch filter 2nd notch filterwidthSuppress resonance point instantaneously.Adjustment of frequency, width and depth is enabled.Gainfrequencyvelocity responseExample of application machineMachine which resonance point varies by each machine or by agingMachine which has multiple resonance pointsMachine which has small peak nearby velocity responseGainfrequencyGainfrequencyCopying 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 frequencySV.Pr23 SV.Pr2F1 : 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.Pr2ANotchNotch filter characteristicsMachine characteristics at resonancegain gain frequencyfrequencyResonanceAnti-resonanceSet up lower a frequency by 10% from the measured one through frequencycharacteristics analysis of the PANATERM ®. Set up according to the resonancecharacteristics. Set up lower a frequency by 10% from the measured one through frequencycharacteristics analysis of the PANATERM ®. Set up according to the resonancecharacteristics.Suppression of Machine ResonanceIn case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due tooscillation caused by axis distortion or other causes. You can suppress the resonance using two types offilter in these cases.1. Torque command filter (SV.Pr14 and SV.Pr1C)Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequencyYou can obtain the cut off frequency of the torque command filter in the following formula.Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)2. Notch filter• Adaptive filter (SV.Pr23, SV.Pr2F)MINASA-A4P series feature the adaptive filter. With this filter you can control vibration of the loadwhich resonance points vary by machine by machine and normal notch filter or torque filter cannotrespond. The adaptive filter is validated by setting up SV.Pr23 (Adaptive filter mode) to 1.• 1st and 2nd notch filter (SV.Pr1D, 2E, 28, 29 and 2A)MINASA-A4P series feature 2 normal notch filters. You can adjust frequency and width with the 1stfilter, and frequency, width and depth with the 2nd filter.
