Omron OMNUC G5 R88M-K series User Manual page 299

Pn220
Damping Frequency 4
Setting
0 to 2000
range
 Set the Damping Frequency
 Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
 Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
 Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn221
Damping Filter 4 Setting
Setting
0 to 1000
range
 First set the
increase the setting to increase operation speed. Normally, use a setting of 0.
 Set value is restricted in the following manner.
Upper limit: Up to the
Lower limit:
 Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn222
Position Command Filter Time Constant
Setting
0 to 10000
range
 The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
 The Constant is used to reduce the stepping movement of the motor and achieve a smooth
operation when the electronic gear ratio is set in 10 times or greater.
 It sets the first-order lag filter time constant, as shown below, for the square-wave command of
target speed Vc.
Speed
Target speed Vc
Vc×0.632
Vc×0.368
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit
4 to suppress vibration at the end of the load in damping control.
Unit
Damping Frequency 4 (Pn220). Then reduce the setting if torque saturation occurs or
Frequency 4
Damping
frequency +
Damping damping
Unit
Input position command
*1
*1
t
f
= (Pn222×0.1 ms)
t
f
*1 The actual process involves calculation error.
*2 If accumulated pulses remain within the filter after the filter set value has
been changed, etc., the motor may operate at a speed higher than the
command speed immediately after switching the filter.
8-3 Vibration Suppression Parameters
Default
0.1 Hz
setting
Default
0.1 Hz
setting
filter setting  100
Default
0.1 ms
setting
Position command after
the smoothing filter process
t
f
Filter switching
dwell time
Position Full closing
Data
0 B
attribute
Position Full closing
Data
0 B
attribute
Position Full closing
Data
0 B
attribute
Time
*2
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