Adaptive Filter - Omron R88M-K 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 torque 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.
Motor speed
Adaptive filter disabled
Position and
speed command
11-20
Filter frequency setting completed
Position/
speed control
Resonance frequency
estimation
Load inertia estimation
Realtime autotuning
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Adaptive filter effect
Torque command
Adaptive
filter
Speed feedback
After vibration
suppression
Current loop
SM
control
RE