7-5
7-2 Realtime Autotuning
7
Adjustment Functions
After writing has been completed, return to the display for Parameter Write Mode.
Adaptive Filter
The adaptive filter will be enabled if the Control Mode Selection (Pn02) is set to advanced position
control (setting of 2) and the Realtime Autotuning Mode Selection (Pn21) is set to 1 to 3 or 7.
The adaptive filter estimates the resonance frequency from the vibration component in the motor
speed during operation, eliminates the resonance component from the torque command by
automatically setting the notch filter coefficient, and suppresses the resonance point vibration.
The adaptive filter may not function properly under the conditions
described in the following table. In that case, use manual tuning with Notch
Filter 1 Frequency (Pn1D) and Notch Filter 1 Width (Pn1E) as a
countermeasure for resonance. (For details on the notch filter, refer to
ekekpk k-k-.
ekek_kskekt.
rkekskektk .
ekekpk k k-.
ekrkrkokrkkkk.
fkiknkikskh.
sktkakrktk
-k-k-k-k-k-.
Writing in EEPROM
Press the Mode key.
Press the Data key.
Press the Increment key for at least 5 s.
The bars will increase as shown in the diagram
on the right.
Writing will start.
("Start" will be displayed momentarily.)
Writing completed.
Writing completed
Writing error occurred
Precautions
for Correct Use
Conditions under which the adaptive filter does not function properly
Resonance
points
If the resonance frequency is 300 Hz or less.
If the resonance peak or control gain is low, and the Servomotor speed is not af-
fected by it.
If there are multiple resonance points.
Load
If the Servomotor speed with high frequency components varies due to backlash
or other non-linear elements.
Operating
pattern
If the acceleration/deceleration suddenly changes i.e., 3000 r/min or more in 0.1 s.
