Chapter 3 – Configuration
33
damping. NOTE: If ABS Damping is enabled, it overrides electronic viscosity
in the 0 to 0.2 rps velocity range.
Velocity
Command Function
Range
Default
Contributing Parameters
DELVIS
Electronic Viscosity
0 to 3 rps** Disabled
DMTJ, DMTSTT, DPOLE
DMTIC, DMTIND, LJRAT
**motor and load dependent
Active Damping
Active damping targets applications that require high accelerations, fast
settling at commanded speed, mechanical vibration disturbance rejection, and
highly stable (non-resonant) motion.
Velocity
Command Function
Range
Default
Contributing Parameters
DACTDP
Active Damping
>3 rps
Enabled
DMTJ, DMTIND,
(DACTDP4)
DMTSTT, LJRAT
Note: You can use the DDAMPA command to disable ABS damping and elec-
tronic viscosity during acceleration rates greater than 50 rps
2
. This allows full
motor torque to be used during acceleration.
Use the following procedures to configure the damping settings. You can usually
find the best setting by using touch or sound. If this is not adequate, use a tachom-
eter attached directly to the motor by means of a stiff coupler.
Configuring ABS Damping (DABSD)
The default setting is
disabled. (DABSD0)
1.
To turn ABS damping
on, use the DABSD command. (DABSD1)
2.
If you use a Parker motor, the following parameters are automatically set when you
use Motion Planner to select a motor. You do not need to enter values for them
now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command:
Motor Parameter:
DMTRES
motor resistance
DMTIND
motor inductance
The figure below shows performance with ABS Damping, with Electronic Viscosity,
and without damping.
Undamped
40 ms
100 ms
400 ms
Time
Velocity
ABS Damping
Electronic Viscosity
Damping Performance
