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Command
Damping Function
DABSD
ABS Damping. Load-independent damping
at extreme low speeds. This feature targets
applications that require minimal zero-speed
settling (e.g., pick-and-place applications).
DELVIS
Electronic Viscosity. This feature 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 0-0.2
rev/sec velocity range.) Start with DELVIS
set to zero, and increase until the required
performance is achieved.
Active Damping. This feature targets
DACTDP
applications that require high accelerations,
fast settling at commanded speed,
mechanical vibration rejection, and highly
stable (non-resonant) motion. Start
configuration with a low DACTDP value, as
highly aggressive damping can lead to
mechanical failure.
DDAMPA
Damping During Acceleration. When
enabled, ABS Damping and Electronic
Viscosity are allowed to function at accel and
decel rates greater than 50 revs/sec/sec. If
your application requires more responsive
acceleration and deceleration (full motor
torque) above 50 revs/sec/sec, you can
disable this feature; but be aware that doing
so increases jerk in your mechanical system.
* These features are based on motor and load parameters that you set up with the configuration utility in Motion
Planner (see page 6). For optimum damping performance, accurate motor and load parameters are required.
NOTE: If you select a Parker motor with the configuration utility, all of the motor parameters (excluding LJRAT,
which sets the load-to-rotor ratio) are automatically set accordingly.
** Actual transition velocity is based on motor and load parameters, and is therefore application dependent.
DACTDP
Active Damping
Type
Drive Configuration
Syntax
<a_><!>DACTDP<i>
Units
i = gain
Range
0-40;
0 disables active damping
Default
4
Response
DACTDP
*DACTDP0
See Also
DABSD, DELVIS, DMTR, LJRAT
The
command controls the gain of the Active Damping function for a specific motor and load.
DACTDP
Active damping works at speeds greater than 3 revolutions per second.
NOTE: To be fully effective, the active damping function requires that you first set the system inertia ratio
(
) and configure your motor parameters. Motor parameters are automatically configured when you
LJRAT
select a Parker motor with the
configure each command listed in the
gains (calculated based on
LJRAT
range, but you may adjust the
An overview of the GT6K's damping features is provided in the
Velocity *
0 to 0.2 revs/sec **
0 to 3 revs/sec **
> 3 revs/sec
Affects damping at
accelerations
> 50 revs/sec/sec
command (if you are not using a Parker motor you must individually
DMTR
command description). With a setting of
DMTR
and the motor parameters) give the best performance over the entire speed
setting further as your application warrants.
DACTDP
www.comoso.com
Default
Related Parameters *
Disabled
DMTRES, DMTIND
Disabled
DMTJ, DMTSTT, DPOLE,
DMTIC, DMTIND,
LJRAT
Enabled,
DMTJ, DMTIND,
gain = 4
DMTSTT, LJRAT
Disabled
n/a
Product
GT6K
GV6K
(applicable only to
stepper axes)
DACTDP20
command description
DABSD
Command Descriptions
Rev
6.0
n/a
, the nominal
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