Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-44 Rev.2.00
How to Use
(2)
Setup of damping depth(Pr6.41) （＊
Only 1st damping filter setup is valid.
）
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.
(3)
Setup of damping filter (Pr 2.15, Pr 2.17, Pr 2.19, Pr 2.21) 。
First, set to 0 and check the torque waveform during operation.
Although you can reduce the settling time by specifying a larger value, the torque rip-
ple increases at the command changing point as shown in the following figure.Set up a
value within the range where no torque saturation occurs under the actual condition. If
torque saturation occurs, the vibration suppression effect will be lost.
The damping filter setting value is limited by the following formula.
10.0[Hz]
－
damping frequency
≦
damping filter setup
≦
damping frequency
Torque command
Torque saturation
Damping filter setup is too large Damping filter setup is
appropriate.
(4) Setup of damping filter switching selection
（
Pr2.13
）
In accordance with the state of the device,from 1st damping filter to 4th damping filter
can be switched.
Pr2.13 1st 2nd 3rd 4th
0
○ ○
Pr2.13 Position conmmand direction 1st 2nd 3rd 4th
3
positive direction
○ ○
negative direction
○ ○
Do not set Pr2.13 to1 or 2. Not to be used.
•
Two-degree-of-freedom control mode disabled(Only position control)
Pr2.13 1st 2nd 3rd 4th
4
○ ○ ○
5
、
6 Same action as set value 0
Damping control switching setting is performed at the rising edge of the command that
causes the number of command pluses per command detection period (0.166 ms)
(at upstream of position command filter) changes from 0 to any other value while the
positioning complete is being output.
Especially, at higher damping frequency, or if it becomes disabled, and wider positioning
complete range is set up, and if large pulse (area is equivalent of time integration of the
value of position command at upstream of the filter minus the value of position command
at downstream of filter) remains in the filter during switching, it is rapidly discharged upon
switching and returns to original position, and the motor will move at a speed higher than
normal command velocity.
Caution
5. Manual Gain Tuning (Application)
Damping Control
Caution