Procedure For Configuring Advanced Features; Configuring Damping Settings - Parker GT6-L8-NK Hardware Installation Manual

Procedure for Configuring Advanced Features

Configuring Damping Settings

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
DACTDP active damping gain
DDAMPA damping during acceleration can be turned on or off
DELVIS electronic viscosity
DABSD ABS damping
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.
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).
Command Function
DABSD ABS Damping
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.
Command Function
DELVIS Electronic Viscosity
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.
Command Function
DACTDP Active Damping
Note: You can use the DDAMPA command to disable ABS damping and elec-
tronic viscosity during acceleration rates greater than 50 rps
motor torque to be used during acceleration.
Options:
you enter a number
can be turned on or off
can be turned on or off
Velocity
Range Default Required Parameters
0 to 0.2 rps* Disabled DMTRES, DMTIND
*motor dependent
Velocity
Range Default Required Parameters
0 to 3 rps** Disabled DMTJ, DMTSTT, DPOLE
DMTIC, DMTIND, LJRAT
**motor and load dependent
Velocity
Range Default
>3 rps Enabled
(DACTDP4)
Chapter 3 – Configuration
Required Parameters
DMTJ, DMTIND,
DMTSTT, LJRAT
2
. This allows full
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