5-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
5
5. Manual Gain Tuning (Application)
Adjustment
Damping Control
Outline
This function reduces vibration at the edge or over the entire equipment by removing the
vibration frequency components specified by the positional command. Among the four
frequency settings, up to three can be used at the same time.
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Conditions under which the damping control is activated
Control mode
• Control mode to be either or both position control or/and full-closed
control.
Pr0.01 = 0 : Position control
Pr0.01 = 3 : 1st control mode of position and velocity control
Pr0.01 = 4 : 1st control mode of position control and torque control
Pr0.01 = 6 : Full-closed control
Caution
This function does not work properly or no effect is obtained under the following condi-
tions.
Conditions which obstruct the damping control effect
Load
condition
• Vibration is triggered by other factors than command
(such as disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
• Vibration frequency is out of the range of 1.0-300.0 [Hz].
Servo driver
Motor position
Motor
Coupling
Ball
screw
Work
travel
Driver
PLC
Setup of front edge vibration
frequency
Motor
Encoder
Load
Position
command
Damping
filter
Position/Velocity
control
Torque
command
Current
control
Machine
base
Front edge vibrates.
Vibration
measurement
with
displacement
sensor
Motor
current
Related page
• P.4-6 to P.4-85... “Details of parameter” • P.7-26 “Outline of Setup support software “PANATERM”
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