6 Applied Functions
6 - 6
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-2 Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the
vibration component that appears in the motor speed during actual operation and automatically sets the
frequency of the notch filter, which removes the resonance component from the torque command.
The automatically set notch filter frequency is applied to the Notch
3 (Pn207 to Pn209) and Notch 4
(Pn210 to Pn212)
settings.
Refer to 6-3 Notch Filters on page 6-8 for information on notch filter.
6-2-1 Outline of the Function
Motor speed
After vibration
suppression
Adaptive filter disabled
Adaptive filter effect
Filter frequency setting completed
Position/speed
command
Speed Feedback
Position/speed
control
Realtime autotuning
Resonance frequency
estimation
Load inertia estimation
Adaptive
filter
Current loop
control
Torque command
SM
RE
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