Damping Control - Panasonic minas a4 series Instruction Manual

Manual Gain Tuning (Application)

Damping Control

Outline
This function reduces the vibration by removing
the vibration frequency component from the
command when the load end of the machine
vibrates.
Applicable Range
This function can only be applicable when the following conditions are satisfied.
• Control mode to be either or both position control or/and full-closed control.
Control mode
Caution
When you change the parameter setup or switch with VS-SEL, stop the action first then execute.
This function does not work properly or no effect is obtained under the following conditions.
• Vibration is triggered by other factors than command (such as disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
Load
• Vibration frequency is out of the range of 10.0-200.0 [Hz].
How to Use
(1) Setup of damping frequency (1st : Pr2B, 2nd : Pr2D))
Measure the vibration frequency of the front edge of the machine.
When you use such instrument as laser displacement meter, and can
directly measure the load end vibration, read out the vibration fre-
quency from the measured waveform and enter it to Pr2B or Pr2D
(Damping frequency).
(2) Setup of damping filter (1st : Pr2C, 2nd : Pr2E))
First, set up 0.
You can reduce the settling time by setting up larger
value, however, the torque ripple increases at the
command changing point as the right fig. shows.
Setup within the range where no torque saturation
occurs under the actual condition. If torque satura-
tion occurs, damping control effect will be lost.
<Remark>
Limit the damping filter setup with the following formula.
10.0 [Hz] – Damping frequency
<
Damping frequency
=
(3) Setup of damping filter switching selection (Pr24)
You can switch the 1st or the 2nd damping filter de-
pending on the vibration condition of the machine.
250
Conditions under which the damping control is activated
Pr02 = 0 : Position control
Pr02 = 3 : 1st control mode of position and velocity control
Pr02 = 4 : 1st control mode of position control and torque control
Pr02 = 6 : Full-closed control
Conditions which obstruct the damping control effect
<
Damping filter setup
=
Setup of front edge vibration
frequency
Position
command
Damping
Position/Velocity
filter
control
Servo driver
Damping filter setup is
appropriate.
Torque
command
Pr24
0
1
2
Front edge vibrates.
Driver
Motor
Coupling
Work
PLC
Torque
command
Motor
current
Current
Motor
control
Motor position
Encoder
Position deviation
Command
speed
Calculation of
vibration frequency
Damping filter setup is
too large.
Torque saturation
Switching mode
No switching ( Both of 2 are valid.)
Switch with VS-SEL input.
Open : 1st damping filter
Close : 2nd damping filter
Switch with command direction.
CCW : 1st damping filter
CW : 2nd damping filter
Vibration
measurement
with
displacement
sensor
travel
Ball
screw
Machine
base
Load