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5
Adjustment
Outline
This function reduces the vibration at the top or on whole of the equipment by removing
the vibration frequency components specified by the positional command. Up to 3 fre-
quency settings, out of 4 settings in total, can be used simultaneously.
Position
command
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Control mode
Caution
This function does not work properly or no effect is obtained under the following conditions.
Load condition
How to Use
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
Measure the vibration frequency at the top of the
equipment. When you can use such instrument
as a laser displacement meter to directly mea-
sure the top end vibration, read out the vibration
frequency from the measured waveform in unit of
0.1[Hz] and set it to the parameter.
If no measuring device is available, measure the
frequency based on the residual vibration of the
position deviation waveform measured using
the vibration frequency monitor or the waveform
graphic function of the setup support software
(PANATERM).
Rev.2.00
5. Manual Gain Tuning (Application)
Damping Control
Setup of front edge vibration
frequency
Torque
command
Damping
Position/Velocity
filter
control
Servo driver
Conditions under which the damping control is activated
• Position control mode or Full-closed control mode.
Conditions which obstruct the damping control effect
• Vibration is triggered by other factors than command
(such as disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
• Vibration frequency is out of the range of 0.5-300.0 [Hz].
Front edge vibrates.
Driver
Motor
Coupling
PLC
Motor
current
Current
Motor
control
Motor position
Encoder
Command
speed
Vibration
measurement
with
displacement
sensor
travel
Ball
Work
screw
Machine
base
Load
Position deviation
Calculation of
vibration frequency
5-43
1
2
3
4
5
6
7
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