Datasheet

№SR-ZSV00039 － 31 －

Motor Business Unit, Appliances Company, Panasonic Corporation

5－1－2 Adaptive Filter

Vibrations are reduced by estimating resonance frequency on the basis of vibration components appearing

in motor speeds under actual operations, and by removing the resonance components from torque com-

mand.

1) Scope of application

This function is enabled under the following conditions

Conditions for the functioning of adaptive filter

Control mode Control mode must be that other than torque control mode.

Other

 In servo On status.

 Factors other than control parameters, such as prohibition of deviation counter clearing

command input and torque limiter, are appropriately specified and normal motor rotation

is possible with no problems.

2) Cautions

The adaptive filter may not function normally in the following conditions. If that happens, manually

configure the notch filters for suppressing resonance.

Conditions that interfere with operations of adaptable filter

Resonance point

 When a resonance frequency is lower than 3 times as high as speed responding

frequency [Hz].

 The resonance peak is low or control gain is low and its effect is not observed in the

motor speed.

 Three or more resonance points exist.

Load

 Motor speed variation including a high-frequency component is generated due to any

nonlinear factor such as backlash.

Command pattern

 Acceleration/deceleration is rapid at 30000 [r/min] in 1 [s] or higher.

3) Related parameters

The operation of the adaptive filter can be specified by using the following parameters.