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Class No.
Title
Command / tuning filter
49
6
damping
Viscous friction
50
compensating gain
60 2nd damping depth
1st resonance
61
frequency
1st resonance damping
62
ratio
1st anti-resonance
63
frequency
1st anti-resonance
64
damping ratio
1st response
65
frequency
R1.00
Size
Unit
Range
[byte]
2
-
0-99
2
%/(10000r/min)
0-10000
－
0-1000
2
0.1Hz
0-3000
2
－
0-1000
2
0.1Hz
0-3000
2
－
0-1000
2
2
0.1Hz
0-3000
Function / Contents
Set the damping of the command filter and tuning
filter.
The first digit is set for the command filter and the
second digit is for the tuning filter in decimal
notation.
Effective digits
0 to 4: No damping (Operates as a primary filter)
5 to 9: Secondary filter (The damping ζ will be
1.0, 0.86, 0.71, 0.50 and 0.35 respectively.)
Ex) To obtain ζ=1.0 for the command filter and
ζ=0.71 for the tuning filter 1, set the value to 75
(1st digit=5 (ζ=1.0), 2nd digit=7(ζ=0.71)).
Please note that for the time constant of the
command filter, Pr2.22 "Positional command
smoothing filter" will be applied.
The command speed is multiplied by this set value
to obtain a compensation amount that will be
added to the torque command.
The unit is [rated torque %/(10000r/min)].
Sets the damping
in 2nd damping control
When the set value = 0, the notch depth 0 (-∞[dB]).
(Conventional compatible)
Notch depth shallower larger the set value.
When the damping filter setting = 0 and set value =
1000,
Damping filter is invalid.
Sets the 1st resonance frequency of the load in
mode of model
type damping filter enabled.The unit is [0.1Hz].
Setting possible within the scope of the 10.0 [Hz]
≦1st Anti-resonance frequency<1st Resonance
frequency≦300.0 [Hz].
If the setting value is not the above magnitude
relationship,vibration suppression filter and filter
resonance characteristic is invalid.
Sets the 1st resonance damping ratio of the load
in mode of model type damping filter enabled.
Damping ratio is set by the setting value × 0.001.
When the set value of 1000, damping 1 (no peak).
Decreasing the setting value, the damping ratio is
reduced. (Resonance peak is large)
Sets the 1st anti-resonance frequency of the load in
mode of model type damping filter enabled.The
unit is [0.1Hz].
Setting possible within the scope of the 10.0 [Hz]
≦1st Anti-resonance frequency<1st Resonance
frequency≦300.0 [Hz].
If the setting value is not the above magnitude
relationship,vibration suppression filter and filter
resonance characteristic is invalid.
Sets the 1st anti-resonance damping ratio of the
load in mode of model type damping filter
enabled.
Damping ratio is set by the setting value x 0.001.
When the set value of 1000, damping 1 (no peak).
Decreasing the setting value, the damping ratio is
reduced. (Resonance peak is large)
Sets the 1st response damping ratio of the load in
mode of model type damping filter enabled.The
unit is [0.1Hz].
Setting possible within the scope of the 10.0 [Hz]
≦1st anti-resonance frequency≦1st response
frequency≦1st anti-resonance frequency x 4≦
300.0 [Hz].
If the setting value is not the above magnitude
relationship,vibration suppression filter and filter
resonance characteristic is invalid.
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
184-
Related
Attribute
control
Reference
mode
B
Position
5-2-13
5-2-13
B
Position
5-2-15
B
Position
5-2-6
5-2-14
B
Position
5-2-15
5-2-14
B
Position
5-2-15
5-2-14
B
Position
5-2-15
5-2-14
B
Position
5-2-15
5-2-14
B
Position
5-2-15
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