Panasonic MINAS A6N Series, Руководство по эксплуатации

Страница: 161 / 495

3-57
Default: [ ]
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When In T
roubie
7
Supplement
4. Details of Parameter
[Class 2] Damping Control
Pr2.13 Selection of damping filter switching
Range Unit Attribute Default
Related
control code
0 to 6 — B 0
P
Among 4 filters select the filters to be used for Damping Control.
• When setup value is 0: Up to 2 filters can be used simultaneously.
Setup value 1st damping 2nd damping 3rd damping 4th damping
【
0
】 ○ ○
1 For manufacturer’s use
2 For manufacturer’s use
• With setup value 3: Select the filter with command direction.
Setup value Position command
direction
1st damping 2nd damping 3rd damping 4th damping
3
Positive direction
○ ○
Negative direction
○ ○
Contents of setup values 4 to 6 will differ with enabled/disabled switching of two degree-of-
freedom control mode.
• Position control (Two degree-of-freedom control mode disabled).
Setup value 1st damping 2nd damping 3rd damping 4th damping
4
○ ○ ○
6 Same action as set value 0.
• Position control (Two degree-of-freedom control mode enabled).
Setup value 1st model 2nd model
4
○ ○
5 For manufacturer’s use
Setup value Position command direction 1st model 2nd model
6
Positive direction
○
Negative direction
○
• Switching of Damping Controls will be done on the rising edge of the command whose number of
pulses/0.125 ms has been changed from 0 while the positioning complete signal is being output.
When the damping frequency is increased or disabled, and positioning complete range is large, and
pulses are stored in the filter at that time (the area represented by the value of position command before
filter subtracted by the value of position command after filter and integrated with the time). Note that since
these pulses will be discharged at a higher rate upon switching to return back to the original position, the
motor may run at a speed higher than the command speed for a short time.
Caution
Note
・
A parameter is designated as follows:
Pr0.00
No. Class
・
For “ Attribute ”,refer to P.3-38 “ Details of Attribute ”.
・
When using the notch filter, refer to P.5-39 Adjustment “ Suppression of Machine Resonance ” .
・ P.2-47
〜
“ Wiring to the Connector, X4 ”
Related page