R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 420

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

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