Parameters Requiring Settings - Omron R88D-KN ML2 Sries User Manual

Parameters Requiring Settings

Parameter
Parameter name
number
Adaptive Filter
Pn200
Selection
Precautions for Correct Use
 Adaptive filter may not operate correctly under the following conditions.
Item
CONTROL mode
Resonance
points
Load
Command pattern
 If the adaptive filter does not operate properly, use Notch 1 (Pn201 to Pn203) or Notch 2 (Pn204
to Pn206) to implement resonance measures according to the manual adjustment procedure.
Refer to "10-7 Notch Filter" (P.10-28) for information on notch filter.
 The adaptive filter is disabled when torque control is performed, but the adaptive filter frequency
used in the CONTROL mode before switching is held if torque control has been selected by setting
the CONTROL mode Selection (Pn001) to 5 or 6.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Description
Set the number of resonance frequencies to be estimated by the
adaptive filter and the operation to be performed after estimation.
0: Adaptive filter disabled
1: One adaptive filter enabled
2: Two adaptive filters enabled
3: RESONANCE FREQUENCY MEASUREMENT mode
If the motor speed is affected by a resonance point, the
Notch Filter 3 or Notch Filter 4 parameter is automatically
set according to the number of adaptive filters.
4: Adaptive result clear
The notch filter 3 and notch filter 4 parameters are
disabled, and adaptive result is cleared.
Conditions under which the adaptive filter operates
• TORQUE CONTROL mode
• If the resonance frequency is 300 Hz or lower.
• If the resonance peak or control gain is low, and the motor speed is not affected by it.
• If there are three or more resonance points.
• If the motor speed with high-frequency components changes due to backlash or
other non-linear elements.
• The acceleration/deceleration is sudden, i.e., 3,000 r/min in 1 s.
10-6 Adaptive Filter
Reference
P.8-19
10-26
10