Chapter 3 – Configuration
27
Damping
These commands are used to configure the drive’s settings for damping. A
procedure for adjusting damping settings is presented below. Relevant commands
are:
Command Description
Options:
DACTDP
active damping gain
you enter a number
DDAMPA
damping during acceleration
can be turned on or off
DELVIS
electronic viscosity
can be turned on or off
DABSD
ABS damping
can be turned on or off
Procedure for Configuring Advanced Features
The Gemini drive has advanced motor control features that you can configure for
increased damping, increased low speed smoothness, and increased disturbance
rejection; and for detecting motor stalls.
Configuring Damping Settings
The Gemini drive’s three damping modes reduce vibration, increase low speed
smoothness, and decrease load settling time. These damping modes are indepen-
dent of each other, and operate within specific velocity ranges.
ABS Damping
ABS damping provides load-invariant damping at extreme low speeds. It
targets applications that require minimal zero-speed settling time (for ex-
ample, pick-and-place applications with varying load).
Velocity
Command Function
Range
Default
Required Parameters
DABSD
ABS Damping
0 to 0.2 rps* Disabled
DMTRES, DMTIND
*motor dependent
Electronic Viscosity
Electronic viscosity 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 to 0.2 rps velocity range.
Velocity
Command Function
Range
Default
Required 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
Required 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.
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