Adaptive Filter - Omron R88D-KN series User Manual

11 Adjustment Functions

11-6 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 force command.
The automatically set notch filter frequency is set in Notch 3 (3207 to 3209 hex) or Notch 4 (3210 to
3212 hex).
Refer to 11-7 Notch Filters on page 11-23 for information on notch filter.
Position and
speed command
Motor speed
Adaptive filter disabled
11-20
Position/ Adaptive
speed control
Resonance frequency
estimation
Mass estimation
Realtime autotuning
Filter frequency setting completed
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Force command
filter
Motor speed
Adaptive filter effect
Current loop
Motor
control
External encoder
After vibration
suppression