11 - 21
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-6 Ad
apt
ive F
ilter
11
11-6 Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the
vibration component that appears in the motor speed during actual operation and automatically sets the
frequency of the notch filter, which removes the resonance component from the force command.
The automatically set notch filter frequency is set in Notch 3 (3207 to 3209 hex) or Notch 4 (3210 to
3212 hex).
Refer to 11-7 Notch Filters on page 11-24 for information on notch filter.
Position and
speed command
Motor speed
Position and
speed control
Realtime autotuning
Resonance frequency
estimation
Mass estimation
Adaptive
filter
Current loop
control
Force command
Motor
External encoder
After vibration
suppression
Adaptive filter disabled
Adaptive filter effect
Filter frequency setting completed
Motor
speed
