Omron R88D-GT series, Руководство пользователя

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7-11
7-2 Realtime Autotuning
7
Adjustment Functions
Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from
the vibration component that appears in the Servomotor speed during actual operation, and
automatically sets the coefficient of the notch filter. This removes the resonance component from
the torque command.
• The adaptive filter may not operate correctly under the following conditions. If it does not, take
measures against resonance by following the manual adjustment procedure using Notch Filter 1
(Pn1D/1E) or Notch Filter 2 (Pn28 to 2A).
• Refer to
Machine Resonance Control
on page 7-30 for details on notch filters.
• Adaptive filter may not operate correctly under the following conditions.
 Operating Procedure
1. Set the Adaptive Filter Selection (Pn23) to 1.
The adaptive filter will be enabled.
Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the
adaptive operation is completed (i.e., Pn2F does not change).
2. Write the data to the EEPROM if the results are to be saved.
• The adaptive filter operates under the following conditions.
Conditions under which the adaptive filter operates
Control mode • The control mode is not torque control.
Conditions under which the adaptive filter does not function properly
Resonance
points
•
If the resonance frequency is 300 Hz or lower.
• If the resonance peak or control gain is low, and the Servomotor speed is not af-
fected by it.
• If there are multiple points of resonance.
Load
•
If the Servomotor speed with high-frequency components changes due to back-
lash or other non-linear elements.
Command
pattern
• If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more
in 0.1 s.
Setting Adaptive filter Adaptive operation
0 Disabled ---
1
Enabled
Yes
2 Yes (hold)
Position/speed
control
Servo-
motor
current
Servo-
motor
speed
Servo-
motor
Encoder
Current
control
Adaptive
filter
Servo Drive
Estimated resonance
frequency
Estimated load inertia
Realtime autotuning
Position/speed
command
Operation commands for
actual conditions of use
Automatic filter
adjustment
Automatic gain
adjustment
Torque
command
Precautions
for Correct Use