5-42
How to Use
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
Measure the vibration frequency at the top of the equipment. When you can use such
instrument as a laser displacement meter to directly measure the top end vibration,
read out the vibration frequency from the measured waveform in unit of 0.1[Hz] and
set it to the parameter.
If no measuring device is available, measure the frequency based on the residual
vibration of the position deviation waveform measured using the vibration frequency
monitor or the waveform graphic function of the setup support software (PANATERM).
Command
speed
Position deviation
Calculation of
vibration frequency
(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
First set to 0 and check the torque waveform during operation.
Although you can reduce the settling time by specifying a larger value, the torque rip-
ple increases at the command changing point as shown in the following figure. Set up
a value within the range where no torque saturation occurs under the actual condition.
If torque saturation occurs, the vibration suppression effect will be lost.
Setting range of the damping filter should be limited as follows:
10.0 Hz – damping frequency ≤ damping filter setting ≤ damping frequency
Torque
command
Torque saturation
Damping filter setup is
too large.
Damping filter setup is
appropriate.
(3) Damping depth setting (Pr. 6.14, Pr. 6.60, Pr. 6.71, Pr. 6.72)
Damping width setting (Pr. 2.27, Pr. 2.28, Pr. 2.29, Pr. 2.30)
If further aims to vibration suppression, set optimum value that most vibration is re-
dused by increase (shallow) depth setting value little by little from 0.
Also if reducing the control delay is desired, reduce (narrow) width setting. When sup-
port variation of vibration frequency, increase (widen) width setting.
5. Manual Gain Tuning (Application)
Damping Control
Caution
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