11 Adjustment Functions
11 - 22
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The adaptive filter operates under the following conditions.
Precautions for Correct Use
Precautions for Correct Use
•
The adaptive filter may not operate correctly under the following conditions.
•
If the adaptive filter does not operate properly, use the notch 1 (3201 to 3203 hex) or notch 2
(3204 to 3206 hex) settings to reduce resonance according to the manual adjustment
procedure.
For details on the notch filter function, refer to 11-7 Notch Filters on page 11-24.
11-6-1 Operating Conditions
Operating conditions
Operation mode
Position Control Mode, Speed Control Mode
Others
•
When Servo is ON.
•
When elements other than control objects, such as the force limit settings, 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
conditions
•
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.
