Panasonic Minas-LIQI Series Technical Reference page 46

3）Related parameters
The operation of damping control can be specified by using the following parameters.
Parameter
No.
Category
Selection of damping
2 13
filter switching
st
2 14 1 damping frequency
st
2 15 1 damping filter setup
nd
2 16 2 damping frequency
nd
2 17 2 damping filter setup
*1 1 Switching of damping frequency and damping filter setup is performed during output of positioning
completion, and upon starting up command of changing command pulse (before positioning command filtering)
from "0" to a value other than "0" for an command pulse detection cycle (0.166 ms).
If damping frequency is particularly high or it is changed to be invalid, and a wide range of positioning com-
pletion has been specified, massive amount of residing pulses in the filter (an area found by integrating a value of
subtracting position command after filtering from position command before filtering with time) may be suddenly
released immediately after switching. Therefore, a sudden action of returning to a correct position may result in
temporary rotation of motor faster than originally instructed. Use caution.
Setup range
Unit
Specifying the mode for switching between four filters used for
damping control.
・up to two filters can be used simultaneously.
・1 or 2: switched by external input (VS-SEL1/VS-SEL2)
2.13
0～3 -
・3: switched by direction
2.13
Specifies the first damping frequency of damping control to
suppress vibration of an end of the load. Measure the
frequency of the vibration of the load end and specify in
0～2000 0.1Hz
increments of 0.1 [Hz].
The effective frequency setting range is 1.0 - 200.0 [Hz].
Specifying 0 - 9 disables the setting.
Specify a small value if torque saturation has occurred when
specified to enable the first damping frequency. Specify a large
value for faster operation.
Normally, use 0 as the setting.
0～1000
0.1Hz
Note) A maximum setting value is internally limited to
smaller value of corresponding damping frequency or (2000 -
damping frequency ).
Specifies the second damping frequency of damping control to
suppress vibration of an end of the load. Measure the
frequency of the vibration of the load end and specify in
0～2000
0.1Hz
increments of 0.1 [Hz].
The effective frequency setting range is 1.0 - 200.0 [Hz].
Specifying 0 - 9 disables the setting.
Specify a small value if torque saturation has occurred when
specified to enable the second damping frequency. Specify a
large value for faster operation.
Normally, use 0 as the setting.
0～1000 0.1Hz
Note) A maximum setting value is internally limited to smaller
value of corresponding damping frequency or (2000 - damping
frequency ).
Motor Business Unit, Appliances Company, Panasonic Corporation
Function
Pr VS- VS-
vibration
SEL2 SEL1
suppressi
on
0 - -
Enabled
1 - OFF
Enabled
- ON
Invalid
2 OFF OFF
Enabled
OFF ON
Invalid
ON OFF
Invalid
ON ON
Invalid
Pr Position com-
vibration
mand
suppressi
on
3 Positive
Enabled
Negative
Invalid
№SR-ZSV00039 － 42 －
st nd rd
1 2 3 4
vibration vibration vibration
suppressi suppressi suppressi
on on on
Enabled Invalid Invalid
Invalid Enabled Invalid
Enabled Invalid Enabled
Invalid Invalid Invalid
Enabled Invalid Invalid
Invalid Enabled Invalid
Invalid Invalid Enabled
st nd rd
1 2 3 4
vibration vibration vibration
suppressi suppressi suppressi
on on on
Invalid Enabled Invalid
Enabled Invalid Enabled
th
th