Omron R88D-KTA5L User Manual page 375

Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain (Pn100), Speed Loop Gain (Pn101), Speed Loop Integral Time
Constant (Pn102) and Torque Command Filter Time Constant (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
2. Measure the damping frequency at the tip of the mechanical unit.
Measure the damping frequency by using a measurement device such as a laser displacement
sensor, servo acceleration meter, or acceleration pick-up.
Set the damping frequency in one of Damping Frequency 1 to Damping Frequency 4 (1:
Pn214, 2: Pn216, 3: Pn218, 4: Pn220) according to the operation.
Also set the switching mode using Damping Filter Selection (Pn213).
If the measurement device cannot be used, use CX-Drive tracing function, and read the
residual damping frequency (Hz) from the position error waveform as shown in the following
figure.
Command
speed
If vibration persists after setting the frequency, increase or decrease the damping frequency to
find the frequency at which vibration decreases.
3. Make the damping filter settings.
Make the damping filter settings (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will
increase at the command change point as shown in the following figure. Set a range that will
not cause torque saturation under actual operation conditions. The effects of vibration
suppression will be lost if torque saturation occurs.
Damping filter
setting is appropriate.
Torque command
When the Damping Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs
or increase the setting to increase operation speed. Normally 0 is set.
If the damping filter 1 is enabled, use the following setting range.
Setting range: 100 ≤ Pn214 + Pn215 ≤ Pn214 × 2 or 2,000
Note: If the damping filter 1 is disabled under Damping Filter Selection (Pn213), this parameter is also
disabled.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
 The damping frequency in the figure is calculated with
Position error
the following formula:
Calculate the
f (Hz) =
damping frequency.
Since the parameter unit is 0.1 Hz:
(Pn214, Pn216, Pn218, Pn220) = 10 × f
 Application example
Damping cycle T
If the damping cycle is 100 ms or 20 ms, set 100 or
500 in the parameter so that the damping frequency
becomes 10 Hz or 50 Hz.
Damping filter setting is too large.
Torque saturation
6-1 Damping Control
1
T (s)
6
6-3