Damping Control - Omron SMARTSTEP 2 SERIES User Manual

7-5 Manual Tuning

Damping Control

When the machine end vibrates, damping control removes the vibration frequency component from
the command and suppresses vibration.
Position
Command
Damping
filter
7
Precautions
for Correct Use
7-23
Sets end vibration frequency
Position controller
Torque
com-
mand
Current
Position/
command
Speed control
Feedback pulses
Servo Drive
The following conditions must be met to use damping control.
Control Mode The Position Control Mode must be used.
If the Control Mode Selection (Pn02) is set to 0, realtime autotuning and
notch filter 1 must be disabled in High-Response Position Control.
If the Control Mode Selection (Pn02) is set to 2, Advanced Position
Control Mode is used.
Stop operation before changing parameters.
Under the following conditions, damping control may not operate properly or may have no
effect.
Conditions under which the effect of damping control is inhibited
Load When forces other than commands, such as external forces, cause
vibration.
When the difference between the resonance frequency and
anti-resonance frequency is large.
When the vibration frequency is large (more than 100 Hz).
Vibrating end
Position change sensor monitors vibration
Driver
Motor
Movement
Ball screw
M Load
E
Conditions under which damping control operates
Machine stand