Omron OMNUC G5 User Manual page 306

6-2 Adaptive Filter
Parameters Requiring Settings
Parameter
Parameter name
number
Adaptive Filter
Pn200
Selection
Adaptive filter may not operate correctly under the following conditions.
6
CONTROL mode
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 "6-3 Notch Filter" (P.6-7) for information on notch filter.
An unusual noise or vibration may occur until the adaptive filter stabilizes after startup, immediately after
the first servo ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn003) is increased,
but this is not a problem if it disappears right away. If the vibration or unusual noise, however, continues
for three or more reciprocating operations, take the following measures in the possible order.
If unusual noise or vibration occurred, the setting of Notch 3 (Pn207 to Pn209) or Notch 4 (Pn210
to Pn212) may have changed to an extreme value. In this case, set Adaptive Filter Selection
(Pn200) to 0 to disable the parameter and then set Notch 3 Frequency Setting (Pn207) and Notch
4 Frequency Setting (Pn210) to 5,000 (disabled). Next, enable Adaptive Filter Selection again.
Notch 3 Frequency Setting (Pn207) and Notch 4 Frequency Setting (Pn210) are written to the
EEPROM every 30 minutes. When the power supply is turned OFF and then turned ON again,
this data will be used as the default settings to perform adaptive operation.
The adaptive filter is disabled when torque control is performed, but the adaptive filter frequency
used in the CONTROL mode before switching will be held if torque control has been selected by
setting the CONTROL mode Selection (Pn001) to 5 or 6.
6-6
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: 1 adaptive filters enabled
2: 2 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.
Precautions for Correct Use
Item
• TORQUE CONTROL mode
• If the resonance frequency is 300 Hz or lower.
Resonance
• If the resonance peak or control gain is low, and the motor speed is not affected by it.
points
• If there are three or more resonance points.
• If the motor speed with high-frequency components changes due to backlash or
Load
other non-linear elements.
• The acceleration/deceleration is sudden, i.e., 3,000 r/min in 1 s.
• Write the parameters used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
• Disable the adaptive filter by setting the Adaptive Filter Selection (Pn200) to 0.
(Resetting of inertial estimation and adaptive operation)
• Manually set the notch filter.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation
Conditions under which the adaptive filter operates
Reference
P.8-20