Adaptive Filter - Omron R88D-GT series User Manual

7-2 Realtime Autotuning

Adaptive Filter

The adaptive filter reduces resonance point vibration by estimating the resonance frequency from
the vibration component that appears in the Servomotor speed during actual operation, and
automatically sets the coefficient of the notch filter. This removes the resonance component from
the torque command.
Operation commands for
actual conditions of use
Precautions
for Correct Use
7
Control mode
• The adaptive filter may not operate correctly under the following conditions. If it does not, take
measures against resonance by following the manual adjustment procedure using Notch Filter 1
(Pn1D/1E) or Notch Filter 2 (Pn28 to 2A).
• Refer to Machine Resonance Control on page 7-30 for details on notch filters.
• Adaptive filter may not operate correctly under the following conditions.
 Operating Procedure
1. Set the Adaptive Filter Selection (Pn23) to 1.
The adaptive filter will be enabled.
Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the
adaptive operation is completed (i.e., Pn2F does not change).
2. Write the data to the EEPROM if the results are to be saved.
7-11
Automatic gain
Position/speed
adjustment
command
Position/speed
• The adaptive filter operates under the following conditions.
• The control mode is not torque control.
Conditions under which the adaptive filter does not function properly
• If the resonance frequency is 300 Hz or lower.
Resonance • If the resonance peak or control gain is low, and the Servomotor speed is not af-
points fected by it.
• If there are multiple points of resonance.
• If the Servomotor speed with high-frequency components changes due to back-
Load
lash or other non-linear elements.
Command • If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more
pattern in 0.1 s.
Setting
0
1
2
Automatic filter
adjustment
Torque
command
Adaptive
control
filter
Estimated resonance
frequency
Estimated load inertia
Realtime autotuning
Servo Drive
Conditions under which the adaptive filter operates
Adaptive filter Adaptive operation
Disabled
Enabled
Yes (hold)
Servo-
motor
current
Current
Servo-
control
motor
Servo-
motor
speed
Encoder
---
Yes