Omron R88D-KTA5L User Manual page 374

6-1 Damping Control
Parameters Requiring Settings
Parameter
Parameter name
number
Control Mode
Pn001
Selection
Damping Filter
Pn213
Selection
Damping
Pn214
Frequency 1
6
Damping Filter 1
Pn215
Setting
Damping
Pn216
Frequency 2
Damping Filter 2
Pn217
Setting
Damping
Pn218
Frequency 3
Damping Filter 3
Pn219
Setting
Damping
Pn220
Frequency 4
Damping Filter 4
Pn221
Setting
 Stop operation before changing the parameters or switching with DFSEL.
 Damping control may not function properly or the effect may not be apparent under the following
conditions.
Control mode
Load condition
6-2
Set to the Position Control Mode or Fully-closed Control
Mode.
0: Position control
3: First control mode for position/speed control
4: First control mode for position/torque control
6: Fully-closed control
Select the damping filter switching mode according to the
condition of the unit.
0: Damping filter 1 or 2 enabled
1: Switching by external input (DFSEL1)
2: Switching by external input (DFSEL1, DFSEL2)
3: Switching with command direction
Set damping frequency 1 to suppress vibration at the end of
the load in damping control.
If the damping control function is not used, set 0.
When the Damping Frequency 1 (Pn214) is set, reduce the
setting if torque saturation occurs or increase the setting to
increase operation speed. Normally 0 is set.
If the damping filter 1 is disabled, this parameter is also
disabled.
The function is the same with Pn214.
The function is the same with Pn215.
The function is the same with Pn214.
The function is the same with Pn215.
The function is the same with Pn214.
The function is the same with Pn215.
Precautions for Correct Use
Item Conditions under which the effect of damping control is inhibited
- Speed Control Mode or Torque Control Mode
- If forces other than position commands, such as external forces, cause vibration.
- If the damping frequency is outside the range of 1 to 200 Hz.
- If the ratio of the resonance frequency to anti-resonance frequency is large.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation Reference
P.8-2
P.8-21
P.8-22
P.8-22
P.8-22
P.8-22
P.8-23
P.8-23
P.8-23
P.8-23