Panasonic MINAS-A5B Series - 2-Stage Torque Filter

No. SX-DSV02472 -87-
5-2-14 2-stage torque filter
In addition to usual 1st and 2nd torque filters (Pr1.04 and Pr1.09), another torque filter can be set. High-frequency
vibration component can be suppressed by the use of the 2-stage torque filter.
2nd torque filter
（Pr1.09）
When 2nd gain is
selected
Torque
command
1st torque filter
（Pr1.04）
When 1st gain is
selected
2nd torque filter
(Pr6.42 and Pr6.43)
Switching gain
(1) Application range
This function can’t be applied unless the following conditions are satisfied.
Conditions for operating 2-stage torque filter
Control mode
• Can be used in all control modes.
Others
• In servo-ON state
• Elements, such as deviation counter clear command input inhibition and torque limit, other
than control parameter are set properly, and motor is running without any problem.
(2) Precautions
• If the setting value is increased excessively, the control may become unstable to produce vibration.
Specify proper setting value while checking the status of the device.
• If Pr6.43 “2-stage torque filter attenuation term” is changed during operation, vibration may be generated.
Change the value while the motor is stopped.
(3) Parameters
Class No.
At-
trib-
ute *1)
Title Range Unit Function
6 42 B
2-stage torque
filter time
constant
0–2500 0.01ms
Sets 2-stage torque filter time constant.
The time constant is invalid if 0 is specified.
[When used for the secondary filter as Pr6.43 ≥ 50]
The time constants that can be used are 5−159 (0.05−1.59 ms).
(Equivalent to 100−3000 Hz in frequency)
Setting values 1−4 works as 5 (3000 Hz), and 159−2500 works as
159 (100 Hz).
6 43 B
2-stage torque
filter attenuation
term
0–1000 —
Sets attenuation term of 2-stage torque filter.
The filter degree of the 2-stage torque filter is changed according to
the setting value.
0−49:
Operates as the 1st filter.
50−1000:
Operates as a 2nd filter and becomes a 2nd filter with ζ = 1.0 if
setting value is 1000. As the setting value is decreased, the filter
becomes vibrational. Use with a setting value 1000 basically.
*1) For parameter attribute, refer to Section 9-1.
(4) Usage
Set a 2-stage torque filter if high-frequency vibration can’t be removed only using usual 1st and 2nd torque
filters. Setting Pr6.43 “2-stage torque filter attenuation term” to 1000 (ζ=1.0), adjust Pr6.42 “2-stage torque filter
time constant”.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation