11 - 21
11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11-9 Adaptive Notch Filter
11
11-9-1 Objects Requiring Settings
11-9 Adaptive Notch Filter
The Adaptive Notch Filter reduces resonance frequency vibration by estimating the resonance fre-
quency from the vibration component that appears in the motor speed during actual operation and
automatically setting the frequency of the notch filter, which removes the resonance component from
the internal torque command.
You can check the values that are set automatically with 1st Notch Filter (3321 hex)/2nd Notch Filter
(3322 hex)/3rd Notch Filter (3323 hex)/4th Notch Filter (3324 hex) – Frequency Display (Subindex
82 hex), Q-value Display (Subindex 83 hex), and Depth Display (Subindex 84 hex).
Refer to 11-10 Notch Filters on page 11-23 for information on notch filter.
11-9-1 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3320
---
Adaptive Notch Filter Sets the adaptive notch filter. P. 9-45
01 Adaptive Notch
Selection
Selects the notch filter to adapt the estimation result. This
object is disabled when 0 is set.
0: Disabled
1: 1st Notch Filter
2: 2nd Notch Filter
3: 3rd Notch Filter
4: 4th Notch Filter
P. 9- 45
03 Resonance Detec-
tion Threshold
Sets the torque output to detect the resonance, as a percent-
age of the rated torque.
P. 9- 45
Motor
velocity
Operation Example
Before estimation of
resonance frequency
Estimation of resonance
frequency in progress
After estimation of
resonance frequency
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