Omron OMNUC G User Manual page 286

5-25 Damping Control
If no measurement device is available, use the CX-Drive data tracing function, and read the residual
vibration frequency (Hz) from the position deviation waveform as shown in the following figure.
Command
speed
5
If the vibration does not disappear with the frequency setting, raise or lower the resonance
frequency to find the frequency that can reduce vibration.
3. Set the Vibration Filter.
Set Vibration Filter 1 (Pn02C) and Vibration Filter 2 (Pn02E).
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.
Torque command
Decrease this setting if torque saturation occurs when setting the Vibration Frequency 1 (Pn02B).
Increase it to make the movement faster. Normally, use a setting of 0.
The setting range depends on the filter type selected with the Vibration Filter Selection (Pn024), as
shown below if Vibration Filter 1 is enabled.
Normal type (Setting range: −200 to 2000)
Setting range: 100
Low-pass type (Setting range: −200 to 2000)
Setting range: 10
Note This parameter is disabled when Vibration Filter 1 is disabled.
5-53
Position deviation
Calculation of
vibration frequency
Vibration cycle T
Vibration filter
Vibration filter setting too large
setting appropriate
≤ Pn02B + Pn02C ≤ Pn02B × 2 or 2000
≤ Pn02B + Pn02C ≤ Pn02B × 6
The following gives the vibration frequency in the
figure.
1
f (Hz) =
T(s)
Since the unit for the parameter is 0.1Hz:
(Pn02B, Pn02D) = 10
Example:
When the vibration cycle is 100 ms and 20 ms, the
vibration frequency is 10 Hz and 40 Hz,
therefore set Pn02B = 100, Pn02D = 400.
Torque saturation
× f