Omron OMNUC G User Manual page 325

Pn No. Parameter name
Pn023 Adaptive Filter Selection
Enables or disables the adaptive filter.
The adaptive filter is enabled during realtime autotuning and manual tuning.
The adaptive filter reduces resonance point vibration in the Servomotor response by estimating the
resonance frequency from the vibration component that appears in the Servomotor speed, and
automatically sets the frequency of the notch filter which removes the resonance component from
the torque command.
The adaptive filter can only be used with position and speed control modes. It is not available for
torque control mode.
The adaptive filter may not operate properly under the following conditions.
If the resonance frequency is 300 Hz or lower.
Reso-
If there are multiple points of resonance.
nance
If the resonance peak or control gain is low, and the Servomotor speed is not affected by
points
it.
If the Servomotor speed with high-frequency components changes due to backlash or
Load
other non-linear elements.
If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more in 0.1 s.
Com-
mand
pattern
If the adaptive filter does not function properly, correct by setting the Notch Filter 1 Frequency
(Pn01D) and Notch Filter 1 Width (Pn01E).
Setting the Vibration Filter Selection (Pn024) to low-pass type 3 to 5 disables (= 0) the adaptive
filter.
Setting
0 Adaptive filter disabled
1 Adaptive filter enabled, adaptive operation ON
2 Adaptive filter retained (retains the adaptive filter frequency when set to 2)
Pn No. Parameter name
Pn024 Vibration Filter Selection
Selects the vibration filter type and switching mode.
Filter type
Normal type: Vibration frequency setting range 10.0 to 200.0 Hz
Adaptive filter can be used.
Low-pass type: Vibration frequency setting range 1.0 to 200.0 Hz
Adaptive filter cannot be used (forcibly set to disabled).
5-27 Details on Important Parameters
Setting
range
0 to 2
Conditions under which the adaptive filter does not function properly
Explanation
Setting
range
0 to 5
Default
Unit Attribute
setting
--- 0
Default
Unit Attribute
setting
--- 0
B
5
C
5-92