Panasonic MINAS A6 Series - Two-Stage Torque Filter

5-67
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5
5. Manual Gain Tuning (Application)
Adjustment
Two-stage torque filter
Outline
In addition to existing 1st and 2nd torque lter (Pr1.04 and Pr1.09), the 3rd torque lter
can be set. This 2-stage torque lter will effectively suppress oscillating component in
high frequency range.
2nd time constant
of torque filter
(Pr1.09)
2nd gain selected
2-stage torque filter
(Pr6.42, Pr6.43)
Gain switching
1st time constant
of torque filter
(Pr1.04)
1st gain selected
Torque
command
Applicable Range
This function can be applicable only when the following condition are satised.
2-stage torque filter operating condition
Control Mode Can be used in any control mode.
Others
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Caution
• Excessively high setup value makes control unstable and may cause oscillation.
• Set to an appropriate value by checking condition of the device.
• Changing Pr6.43 2-stage torque lter attenuation term during operation may cause os-
cillation. Stop operation before changing the term.
Related page
• P.4-6 to P.4-85... “Details of parameter”
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