Panasonic MINAS-A5BL Series Manual page 113

4) How to use
(1) Setup of damping frequency (1st: Pr 2.14, 2nd: Pr 2.16, 3rd: Pr 2.18, 4th: Pr 2.20))
Measure the vibration frequency of the front edge of the machine. When you use such instrument as laser
displacement meter, and can directly measure the load end vibration, read out the vibration frequency by 0.1
[Hz] from the measured waveform and enter it.
If suitable measuring device is not available, measure the frequency according to the residual vibration of the
position deviation waveform measured by the vibration frequency monitor of the setup support software or a
waveform graphic function.
(2) Setup of damping filter (1st: Pr 2.15, 2nd: Pr 2.17, 3rd: Pr 2.19, 4th: Pr 2.21)
First, set to 0 and check the torque waveform during operation.
You can reduce the settling time by setting up larger value, however, the torque ripple increases at the command
changing point as the right fig. shows. Setup within the range where no torque saturation occurs under the actual
condition. If torque saturation occurs, damping control effect will be lost.
(3) Configuring damping depth setting (Pr 6.41)
*) Effective to only the 1st damping setting
First set it to 0, and increase the setting value little by little if settling time needs to be decreased. As the setting
value increases, the settling time can be decreased, but the damping effect is also decreased. Make an adjustment
while checking the statuses of the settling time and vibration.
R1.00
Command
指令速度
velocity
Damping filter setup is appropriate.
Torque command
位置偏差
Position deviation
Computation of
振動周波数を算出
damping frequency
Damping filter setup is too large.
Torque saturation
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
107-