Manual Gain Tuning (Application) Damping Control - Panasonic MINAS A5-series Operating Instructions Manual

5
Adjustment
Outline
This function reduces the vibration at the top or on whole of the equipment by removing
the vibration frequency components specified by the positional command. Up to 2 among
4 frequency settings can be used at the same time.
Position
command
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Control mode
Caution
This function does not work properly or no effect is obtained under the following condi-
tions.
Load
Related page
• P.4-4 "Details of parameter"
5-24
5. Manual Gain Tuning (Application)
Damping Control
Setup of front edge vibration
frequency
Damping
Position/Velocity
filter
control
Servo driver
Conditions under which the damping control is activated
• Control mode to be either or both position control or/and full-closed
control.
Pr02 = 0 : Position control
Pr02 = 3 : 1st control mode of position and velocity control
Pr02 = 4 : 1st control mode of position control and torque control
Pr02 = 6 : Full-closed control
Conditions which obstruct the damping control effect
• Vibration is triggered by other factors than command (such as
disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
• Vibration frequency is out of the range of 10.0-200.0 [Hz].
• P.7-26 "Outline of Setup support software "PANATERM"
Front edge vibrates.
Driver
PLC
Torque
command
Motor
current
Current
control
Motor position
Vibration
measurement
with
displacement
sensor
Motor
travel
Ball
Coupling
Work
screw
Machine
base
Motor
Load
Encoder