Adaptive Filter - Omron R88D-KTA5L User Manual

6-2 Adaptive Filter

Outline of Operation
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 (Pn207 to Pn209) or Notch 4
(Pn210 to Pn212).
Refer to "6-3 Notch Filter" (P.6-7) for information on notch filter.
Motor speed
Adaptive filter disabled
Position and
speed command
Position and
speed control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Filter frequency setting completed
Adaptive
Resonance frequency
estimation
Load inertia estimation
Realtime autotuning
Adaptive filter effect
Torque command
filter
Speed feedback
6-2 Adaptive Filter
After vibration
suppression
Current loop
SM
control
RE
6-5
6