Omron OMNUC G Series User Manual page 307

Note Details on the vibration filter settings are as follows.
Vibration Filter
Mode Selection
Selection
Filter type
selection
Switching mode
selection
command direction
Precautions
for Correct Use
Control Mode
Load status
Operating Procedure
1. Adjust the gain for the position loop and speed loop.
Adjust the Position Loop Gain (Pn010), Speed Loop Gain (Pn011), Speed Loop Integration Time
Constant (Pn012), and Torque Command Filter Time Constant (Pn014).
Use normal mode autotuning and realtime autotuning if there are no problems in doing so.
2. Measure the vibration frequency at the end of the machine system.
Vibration frequency is measured using a laser displacement meter, servo acceleration meter, or
acceleration pick-up.
Set the measured vibration frequency to the Vibration Frequency 1 (Pn02B) and Vibration
Frequency 2 (Pn02D) according to the motion.
Set the filter type and switching mode with the Vibration Filter Setting (Pn024).
Vibration frequency setting range 10.0 to 200.0 Hz
Normal type (Disabled when set to 0 to 99)
Adaptive filter can be used
Vibration frequency setting range 1.0 to 200.0 Hz
Low-pass type (Disabled when set to 0 to 9)
Adaptive filter cannot be used (forcibly set to disabled)
No switching Both Vibration Frequency 1 and 2 are enabled.
Selects Vibration Frequency 1 in forward direction
Switching with (Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction
(Pn02D, Pn02E)
 The damping control may not function properly or may not be effective
under the following conditions.
Conditions under which damping control does not function properly
 In speed and torque control modes.
 If forces other than position commands, such as external forces, cause vibration.
 If the vibration frequency is outside the range of 1 to 200 Hz.
 If the ratio of the resonance frequency to anti-resonance frequency is large.
 If the vibration frequency is greater than the response frequency in position
control (the value of position loop gain [1/s] divided by 2
(10 Hz when the position loop gain is 63 [1/s].)
5-25 Damping Control
Description of setting

(6.28)).
5
5-52