Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-42
How to use

Setup of damping frequency (1st: Pr 2.14, 2nd: Pr 2.16, 3rd: Pr 2.18, 4th: Pr 2.20)
Measure the vibration frequency of the front edge of the machine. When you use such instrument as
laser displacement meter, and can directly measure the load end vibration, read out the vibration
frequency by 0.1 [Hz] from the measured waveform and enter it.
If suitable measuring device is not available, measure the frequency according to the residual vibration
of the position deviation waveform measured by the vibration frequency monitor of the setup support
software or a waveform graphic function.

Setup of damping filter (1st: Pr 2.15, 2nd: Pr 2.17, 3rd: Pr 2.19, 4th: Pr 2.21)
First, set to 0 and check the torque waveform during operation.
You can reduce the settling time by setting up larger value, however, the torque ripple increases at the
command changing point as the right fig. shows. Setup within the range where no torque saturation
occurs under the actual condition. If torque saturation occurs, damping control effect will be lost.

Setup of damping depth (Pr 6.41, Pr 6.60, Pr 6.71, Pr 6.72)
Setup of damping width (Pr 2.27, Pr 2.28, Pr 2.29, Pr 2.30)
First set it to 0, and increase the setting value little by little if settling time needs to be decreased. As the
setting value increases, the settling time can be decreased, but the damping effect is also decreased.
Make an adjustment while checking the statuses of the settling time and vibration.