Panasonic MINAS A5-series Operating Instructions Manual page 255

5. Manual Gain Tuning (Application)
Damping Control
How to Use
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
Measure the vibration frequency of the front edge of the machine. When you use such
instrument as laser displacement meter, and can directly measure the load end vibra-
tion, read out the vibration frequency from the measured waveform and enter it.
Command
speed
(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
First, set up 0.
You can reduce the settling time by setting up larger value, however, the torque ripple
increases at the command changing point as the right fig. shows. Setup within the
range where no torque saturation occurs under the actual condition. If torque satura-
tion occurs, damping control effect will be lost.
Damping filter setup is
appropriate.
Torque
command
(3) Setup of damping filter switching selection (Pr2.13)
You can switch the 1st or the 2nd damping filter depending on the vibration condition
of the machine.
Pr2.13
0
1
2
Pr2.13
3
Position deviation
Calculation of
vibration frequency
Damping filter setup is
too large.
VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
— —
— OFF
— ON
OFF OFF
OFF ON
ON OFF
ON ON
Position command
1st damping 2nd damping 3rd damping 4th damping
direction
Positive direction
Negative direction
Torque saturation
1
2
3
4
5
6
7
5-25