Command Descriptions
61
Command
Damping Function
Velocity
*
Default
Related Parameters
*
DABSD
ABS Damping. Load-independent damping
at extreme low speeds. This feature targets
applications that require minimal zero-speed
settling (e.g., pick-and-place applications).
0 to 0.2 revs/sec ** Disabled
DMTRES
,
DMTIND
DELVIS
Electronic Viscosity. This feature targets
applications that require reduced low-speed
velocity ripple and increased smoothness, as
well as aggressive low-speed damping.
(NOTE: If ABS Damping is enabled, it
overrides electronic viscosity in the
0-0.2
rev/sec
velocity range.) Start with
DELVIS
set to zero, and increase until the required
performance is achieved.
0 to 3 revs/sec **
Disabled
DMTJ
,
DMTSTT
,
DPOLE
,
DMTIC
,
DMTIND
,
LJRAT
DACTDP
Active Damping. This feature targets
applications that require high accelerations,
fast settling at commanded speed,
mechanical vibration rejection, and highly
stable (non-resonant) motion. Start
configuration with a low
DACTDP
value, as
highly aggressive damping can lead to
mechanical failure.
> 3 revs/sec
Enabled,
gain = 4
DMTJ
,
DMTIND
,
DMTSTT
,
LJRAT
DDAMPA
Damping During Acceleration. When
enabled, ABS Damping and Electronic
Viscosity are allowed to function at accel and
decel rates greater than 50 revs/sec/sec. If
your application requires more responsive
acceleration and deceleration (full motor
torque) above 50 revs/sec/sec, you can
disable this feature; but be aware that doing
so increases jerk in your mechanical system.
Affects damping at
accelerations
> 50 revs/sec/sec
Disabled n/a
* These features are based on motor and load parameters that you set up with the configuration utility in Motion
Planner (see page
6
).
For optimum damping performance, accurate motor and load parameters are required.
NOTE
: If you select a Parker motor with the configuration utility, all of the motor parameters (excluding
LJRAT
,
which sets the load-to-rotor ratio) are automatically set accordingly.
** Actual transition velocity is based on motor and load parameters, and is therefore application dependent.
DACTDP
Active Damping
Type
Drive Configuration
Syntax
<a_><!>DACTDP<i>
Units
i = gain
Range
0-40; 0 disables active damping
Default
4
Response
DACTDP *DACTDP0
See Also
DABSD, DELVIS, DMTR, LJRAT
Product Rev
GT6K 6.0
GV6K n/a
(applicable only to
stepper axes)
The
DACTDP
command controls the gain of the Active Damping function for a specific motor and load.
Active damping works at speeds greater than 3 revolutions per second.
NOTE
: To be fully effective, the active damping function requires that you first set the system inertia ratio
(
LJRAT
) and configure your motor parameters. Motor parameters are automatically configured when you
select a Parker motor with the
DMTR
command (if you are not using a Parker motor you must individually
configure each command listed in the
DMTR
command description).
With a setting of
DACTDP20
, the nominal
gains (calculated based on
LJRAT
and the motor parameters) give the best performance over the entire speed
range, but you may adjust the
DACTDP
setting further as your application warrants.
An overview of the GT6K’s damping features is provided in the
DABSD
command description
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