Damping Control - Omron R88D-GT series User Manual

7-5 Manual Tuning

Damping Control

When the machine end vibrates, damping removes the vibration frequency from the commands,
reducing vibration.
Position
command
Precautions
for Correct Use
7
Control Mode
• 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.
7-35
Set the frequency of the vibrating end.
Position controller
Torque
com-
Control
mand Current
Position/
filter
speed
control
Feedback pulse
Servo Drive
• The following conditions must be met to use damping control.
• 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
• If forces other than commands, such as external forces, cause vibration.
Load • 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.
Servo Drive
Servomotor
Moving body
Coupling
Servo-
control
motor
Encoder
Conditions under which damping control operates
Vibrating end
Vibration measured
with Displacement Sensor
Move-
ment Ball screw
Machine table
Load