Omron R88D-GT series, Руководство пользователя

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7-35
7-5 Manual Tuning
7
Adjustment Functions
Damping Control
When the machine end vibrates, damping removes the vibration frequency from the commands,
reducing vibration.
• Stop operation before changing the parameters or switching with DFSEL/PNSEL.
• Under the following conditions, damping control may not operate properly or may have no effect.
• The following conditions must be met to use damping control.
Conditions under which damping control operates
Control Mode
• The Position Control Mode must be used.
Pn02 = 0: Position control
Pn02 = 3: Control mode 1 for position/speed control
Pn02 = 4: Control mode 1 for position/torque control
Conditions under which the effect of damping control is inhibited
Load
• If forces other than commands, such as external forces, cause vibration.
• If the ratio of the resonance frequency to anti-resonance frequency is large.
• If the vibration frequency is outside the range of 10.0 to 200.0 Hz.
Encoder
Load
Servo-
motor
Servo Drive
Feedback pulse
Position
command
Torque
com-
mand Current
control
Position/
speed
control
Coupling
Servo Drive
Servomotor
Move-
ment
Moving body
Ball screw
Machine table
Set the frequency of the vibrating end.
Control
filter
Position controller
Vibrating end
Vibration measured
with Displacement Sensor
Precautions
for Correct Use