Omron R88D-KN series User Manual

11-21
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-6 Adaptive Filter
11
11-6-1 Operating Conditions
The adaptive filter operates under the following conditions.
Precautions for Correct UsePrecautions for Correct Use
• Adaptive filter may not operate correctly under the following conditions.
• If the adaptive filter does not operate properly, use Notch 1 (3201 to 3203 hex) or Notch 2
(3204 to 3206 hex) to reduce resonance according to the manual adjustment procedure.
Refer to 11-7 Notch Filters on page 11-23 for information on notch filter.
11-6-1 Operating Conditions
Operating conditions
Operating mode Position Control Mode, Speed Control Mode
Others • When Servo is ON.
• When elements other than control objects, such as the force limits, are set correctly and
there is no trouble with the motor's normal operation.
• Adaptive operation is disabled when magnetic pole position estimation is in progress.
Conditions that interfere with the adaptive filter
Resonance
points
• If the resonance frequency is less than 3 times the response time frequency [Hz].
• If the resonance peak or control gain is too low to affect the motor speed.
• If there are three or more resonance points.
Load • If the motor speed with high-frequency components changes due to backlash or
other non-linear elements.
Operation
pattern
• If the acceleration/deceleration is 3,000 [mm/s] or higher.
11-6-2 Objects Requiring Settings
Index Name Description Reference
3200 hex Adaptive Filter Selection 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. The objects related to notch
filter 3 are automatically updated.
2:Two adaptive filters enabled. The objects related to notch
filters 3 and 4 are automatically updated.
3:Mode for measuring the resonance frequency. The
resonance frequency is measured. The measured result
can be checked using the support software. The
parameters related to notch filters 3 and 4 retain the current
values.
4:Adaptive result is cleared. Objects related to notch filters 3
and 4 are disabled and the adaptive result is cleared.
page 9-17

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English