Servo control
4.8 Autotuning
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
129
Principle of operation of the current setpoint filter adaptation
● As soon as the pulse enable has been set and a resonance frequency has been excited
enough that the internal activation threshold is exceeded, the adaptation moves the
bandstop filter to this resonance frequency.
● If the resonance frequency has not been excited enough or there is no interfering
resonance frequency, the bandstop filter stops and the current blocking frequency does
not change.
Figure 4-11 Principle of operation
● The calculated values for the numerator and denominator damping of the bandstop filter
are tracked during the movement so that the bandwidth of the bandstop filter increases
with increasing blocking frequency.
● The current frequency of the bandstop filter can be read and recorded via r5285. This
frequency is also written to the appropriate frequency parameters of the adapted current
setpoint filter.
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