5-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5
3. Adaptive lter
Adjustment
Adaptive filter
Outline
Estimates the resonance frequency out of vibration component presented in the motor
speed in motion, then removes the resonance component from the torque command by
setting up the notch lter coefcient automatically, hence reduces the resonance vibra-
tion.
Applicable Range
This function works under the following condition.
Conditions under which the Adaptive filter is activated
Control Mode • Applies to other control modes than torque control.
Others
• Should be servo-on status.
• Elements other than control parameters, such as deviation counter clear
command inhibit and torque limit are appropriately set, enabling the motor
to run normally.
Caution
In the following condition, normal operation may not be expected - manually set the notch
lter to prevent resonance.
Conditions which obstruct adaptive filter action
Resonance
point
• Resonance frequency is lower than 3 times.
• Resonance peak is low, or control gain is low where the motor speed is
not affected by this.
• Multiple resonance of 3 or more points exist.
Load
• Motor speed variation with high harmonic component is generated due to
non-linear factors such as backlash.
Command
pattern
• Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].
Action command under
actual condition
Position/Velocity
command
Position/
Velocity control
Servo driver
Real time
auto-gain tuning
Resonance frequency
estimation
Load inertia estimation
Adaptive
Filter
current
control
Gain
auto-setup
Filter
auto-adjustment
Torque
command
Motor
current
Motor
speed
Motor
Encoder
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