5-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Adaptive lter
Adaptive filter
Caution
(1) Immediately after the rst servo-on at start up; or after increasing stiffness setting with
the real-time auto-tuning enabled, abnormal sound or oscillation may be generated
until the adaptive lter stabilizes. If such abnormality lasts or repeats for 3 or more re-
ciprocating operations, take the following countermeasures.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain
tuning).
3) Invalidate the adaptive lter by setting up Pr2.00 (Setup of adaptive lter mode) to
0. (Reset of inertia calculation and adaptive action)
4) Set up the notch lter manually.
(2) Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th
notch lters. If such change occurs, disable the adaptive lter as described in step 3)
above, change setup value of Pr2.07 3rd notch frequency and Pr2.10 4th notch fre-
quency to 5000 (disable), and then enable the adaptive lter again.
(3) The 3rd lters (Pr2.07-Pr2.09) and 4th notch lters (Pr2.10-Pr2.12) are written to EE-
PROM every 30 minutes. Upon power up, these data are used as default values dur-
ing adaptive process.
Related page
• P.4-6 to P.4-85... “Details of parameter”
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