10-26
10-6 Adaptive Filter
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
Parameters Requiring Settings
Precautions for Correct Use
Adaptive filter may not operate correctly under the following conditions.
If the adaptive filter does not operate properly, use Notch 1 (Pn201 to Pn203) or Notch 2 (Pn204
to Pn206) to implement resonance measures according to the manual adjustment procedure.
Refer to "10-7 Notch Filter" (P.10-28) for information on notch filter.
The adaptive filter is disabled when torque control is performed, but the adaptive filter frequency
used in the CONTROL mode before switching is held if torque control has been selected by setting
the CONTROL mode Selection (Pn001) to 5 or 6.
Parameter
number
Parameter name Description Reference
Pn200
Adaptive Filter
Selection
Set the number of resonance frequencies to be estimated by the
adaptive filter and the operation to be performed after estimation.
0: Adaptive filter disabled
1: One adaptive filter enabled
2: Two adaptive filters enabled
3: RESONANCE FREQUENCY MEASUREMENT mode
If the motor speed is affected by a resonance point, the
Notch Filter 3 or Notch Filter 4 parameter is automatically
set according to the number of adaptive filters.
4: Adaptive result clear
The notch filter 3 and notch filter 4 parameters are
disabled, and adaptive result is cleared.
P.8-19
Item Conditions under which the adaptive filter operates
CONTROL mode
• TORQUE CONTROL mode
Resonance
points
• If the resonance frequency is 300 Hz or lower.
•
If the resonance peak or control gain is low, and the motor speed is not affected by it.
• If there are three or more resonance points.
Load
• If the motor speed with high-frequency components changes due to backlash or
other non-linear elements.
Command pattern
• The acceleration/deceleration is sudden, i.e., 3,000 r/min in 1 s.
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