Damping Control - Omron SMARTSTEP 2 R88M-G 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