Panasonic MINAS A6 Multi Series Technical Reference page 138

5.2.13 Hybrid vibration damping function
A function to suppress vibration arising from the twist amount between the motor and the load in the
Full-closed control mode. This function enables high setting of gains.
Applicable range
This function is unable to be applied unless the following conditions are satisfied.
Conditions in which hybrid vibration suppression functions are activated:
 Full-closed control mode
Control Mode
 To be in the servo ON state.
Others
 Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.
Cautions
This function is effective when the twist amount between the motor shaft and the load is great. When the
twist amount is small, there are cases in which the effect may be small.
Relevant parameters
Combining the following parameters, hybrid vibration suppression function is set.
 Relevant parameters
Class No. Attribute
6 34 B
6 35 B
How to use
1. Set Pr6.34 "Hybrid vibration suppression gain" to be same as the position loop gain.
2. While driving in the full-closed control, increase the setting of Pr6.35 "hybrid vibration
suppression filter" gradually and check changes of response. If response seems to be
improved, while adjusting Pr6.34 and Pr6.35, find a combination that can achieve the
optimum response.
Title Range
Hybrid vibration 0 to
suppression gain 30000
Hybrid vibration 0 to
suppression filter 32000
Unit Function
0.1/s Set hybrid vibration suppression gain.
Basically, set the same value as the position loop gain and finely
adjust while monitoring the conditions.
0.01 ms Set the hybrid vibration suppression filter.
Auto Tuning Functions
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