Omron G5 Series User Manual page 287

3
Make the damping filter settings.
Make damping filter settings (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will
increase at the command change point as shown in the following figure. Set a range that will not
cause torque saturation under actual operation conditions. The effects of vibration suppression
will be lost if torque saturation occurs.
Damping filter setting
is appropriate.
Torque
command
When Damping Frequency 1 (Pn214) is set, reduce this setting if torque saturation occurs or
increase this setting to improve the operation speed. Normally 0 is set.
When Damping Filter 1 is enabled, the setting range is as follows:
Setting range: 100 ≤ Pn214 + Pn215 ≤ Pn214 x 2 or 2,000
Note When Damping Filter 1 is disabled in Damping Filter Selection (Pn213), this parameter is also
disabled.
4
Set the Damping Filter Selection (Pn213).
Damping Filter 1 to 4 can be switched according to the conditions of the machine vibration.
Set value
0
1
2
3
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Damping filter setting is
too large.
Torque saturation
Damping Filter 1 and 2 enabled
Switching via external input (DFSEL1)
When DFSEL1 is open: Damping Filter 1 and 3 enabled
When DFSEL1 is shorted: Damping Filter 2 and 4 enabled
Switching via external input (DFSEL1, DFSEL2)
When DFSEL1 and DFSEL2 are open: Damping Filter 1 enabled
When DFSEL1 is shorted and DFSEL2 is open: Damping Filter 2 enabled
When DFSEL1 is open and DFSEL2 is shorted: Damping Filter 3 enabled
When DFSEL1 and DFSEL2 are shorted: Damping Filter 4 enabled
Switching based on the command direction
During forward rotation: Damping Filter 1 and 3 enabled
During reverse rotation: Damping Filter 2 and 4 enabled
6 Applied Functions
Switching mode
6
6 - 5