Panasonic MINAS A6 Multi Series Technical Reference page 123

5.2Manual adjusting function
Relevant parameters
Set up damping control operation using the parameters shown below.
 Relevant parameters
Class No. Attribute
2 13 B
(1) Switching between the damping frequency and damping filter setting is performed at the rising edge of the
command that causes the number of command pluses per command detection period (0.125 ms) (at
upstream of position command filter) changes from 0 to any other value while the positioning complete is
being output.
Even if the control mode is changed to position control after changing the damping frequency and
damping filter settings during velocity control or torque control, the setting is not changed.
Especially, at higher damping frequency, or if it becomes disabled, and wider positioning complete range
is set up, and if large pulse (area is equivalent of time integration of the value of position command at
upstream of the filter minus the value of position command at downstream of filter) remains in the filter
during switching, it is rapidly discharged upon switching and returns to original position, and the motor will
move at a speed higher than normal command velocity.
(2) There is delay from setting change of damping frequency or damping filter to internal computation and
application of new setting values. If the switching described in (1) occurs during this delay time,
application of new value will be suspended.
5-39
Title Range
Selection of 0 to 6
damping filter
switching
Unit Function
- Among 4 filters select the filters to be used for damping control.
 Setup value is 0:
Up to 2 filters can be used simultaneously.
 Setup value is 1 or 2:
Reserved for manufacturer's use (do not set this)
 Setup value 3:
Select the filter with command direction.
Position
Pr2.13 command
direction
0 -
3 Positive
direction
Negative
direction
 Setting values 4 to 6:
Setting values 4 to 6 can be used only when position control
and 2-DOF control mode are disabled. Do not set when
full-closed control or 2-degree-of-freedom control mode is
enabled.
Position
Pr2.13 command
direction
4 -
5, 6 -
Damping
1st 2nd 3rd
Enabled Enabled Disabled
Enabled Disabled Enabled
Disabled Enabled Disabled
Damping
1st 2nd 3rd
Enabled Enabled Enabled
Same as Pr2.13=0
4th
Disabled
Disabled
Enabled
4th
Disabled