Adaptive Tuning page

The
Adaptive Tuning
page includes these parameters.
TIP: The profiles of the drive determine which options are available.
Parameter
Description
Adaptive Tuning Configuration
The adaptive tuning function periodically collects axis torque data and analyzes the data, identifies resonances, and sets the notch filter frequency during runtime.
The modes for the Adaptive Tuning Configuration include:
  • Disabled
     - the configured values for all servo loop attributes of the associated axis are applied without the Adaptive Tuning function.
  • Notch Filter Tuning
    - the Torque Notch Filter Frequency Estimate attribute value is applied to the Torque Notch Filter Bandwidth of the associated axis. The other servo loop attributes are applied without the Adaptive Tuning function.
  • Gain Stabilization
     - the servo loop values are scaled by the adaptive tuning gain scaling factor and the Torque Low Pass Filter Bandwidth.
  • Notch Filter Tuning and Gain Stabilization
     - the Torque Notch Filter Frequency Estimate attribute value is applied to the Torque Notch Filter. The servo loop gain attributes are scaled by the Adaptive Tune Gain Scaling Factor and the Torque Low Pass Filter Bandwidth Estimate is applied to the Torque Low Pass Filter Bandwidth.
Torque Notch Filter High Frequency Limit
The high frequency limit for vibration suppression. The value must be greater than the Torque Notch Filter Low Frequency Limit value.
The default Torque Notch Filter High Frequency limit is 1000 Hertz.
Torque Notch Filter Low Frequency Limit
The low frequency limit for vibration suppression. The value must be less than the Torque Notch Filter High Frequency Limit value.
The default Torque Notch Filter Low Frequency limit is 100 hertz.
Torque Notch Filter Tuning Threshold
Used to enter a threshold value for the resonance frequency identified by the tuning algorithm. The magnitude of an identified natural resonance frequency must be higher than this threshold value to be applied to the Torque Notch Filter Frequency estimate.
The default value is 5.0 % Motor Rated.
Torque Notch Filter Width Min
In modes with Tracking Notch Filters, adaptive tuning adjusts torque notch filter widths proportional to the frequency estimate in relation to the high and low frequency limits. The torque notch filter widths are set equal to this minimum width when the frequency estimate is equal to the low frequency limit.
Torque Notch Filter Width Max
In modes with Tracking Notch Filters, adaptive tuning adjusts torque notch filter widths proportional to the frequency estimate in relation to the high and low frequency limits. The torque notch filter widths are set equal to this maximum width when the frequency estimate is equal to the high frequency limit
Torque Low Pass Filter Bandwidth Min
Limit the Torque Low Pass Filter Bandwidth Estimate to reduce the potential impact that the filter’s phase lag can have on control stability.
Adaptive Tuning Gain Scaling Factor Min
Set this value to prevent the Adaptive Tuning algorithm from decreasing the bandwidth of the control loop to the point where there is insufficient torque to effectively control the load.
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