Omron R88D-KN ML2 Sries User Manual page 400

10-5 Damping Control
Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (Pn100), Speed Loop Gain 1 (Pn101), Speed Loop Integral Time
Constant 1 (Pn102) and Torque Command Filter Time Constant 1 (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 using a laser displacement sensor, servo acceleration meter,
acceleration pick-up, etc.
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
If vibration persists after setting the frequency, increase or decrease the resonance frequency
to find the frequency at which vibration decreases.
3. Set damping filter setting.
Set damping filter setting (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
10
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
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
1 Setting (Pn215) is also disabled.
10-23
Position error
speed
Calculate the
damping frequency.
damping cycle T
filter
Damping
Precautions for Correct Use
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
 The following gives the
1
f (Hz) =
T (s)
Since the parameter unit is 0.1 Hz:
(Pn214, Pn216, Pn218, Pn220) = 10  f
 Application example
damping cycle is 100 ms or 20 ms, set 100 or
If the
500 in the parameter so that the
becomes 10 Hz or 50 Hz.
filter setting is too large.
Torque saturation
Damping Filter Selection (Pn213), Damping Filter
damping frequency in the figure.
damping frequency