Omron OMNUC G Series User Manual

5-50
5-25 Damping Control
Operating Functions
5
5-25 Damping Control
Function
Damping control is used to reduce vibration when the end of the machine exhibits vibration.
This function is effective on vibration in machines with low rigidity. The normal type is suitable for
frequencies from 10 to 200 Hz, the low-pass type is for 1 to 200 Hz.
The adaptive filter (300 Hz or more) can be used for the normal type, but not for the low-pass type.
Damping control works with position commands and thus cannot be used for speed and torque
control.
The control block diagram for Damping Control is shown below.
PLC
NCF71
Vibration at the end
Servo Drive
Move
Vibration frequency changes
depending on position
R88D-GN
@
-ML2
Notch Filter
Pn01D, Pn01E
Pn028, Pn029
Pn02A, Pn02F
*1
SM
RE
*1
+
+
+
−
MECHATRO
LINK-II
MECHATRO
LINK-II
Vibration Filter
Pn02B:
Frequency 1
Pn02C:
Filter 1
Pn02D:
Frequency 2
Pn02E:
Filter 2
Electronic
Gear
Pn205:
Numerator
Pn206:
Denominator
Pn10E:
Moving
Average
Speed FF
Pn015:
FF Amount
Pn016:
Time
Constant
Deviation
Counter
Pn010: No.1
Pn018: No.2
Torque
Command
Speed
Command
Speed FF
[VFF]
Command
Position
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time
Constant 2
Pn020:
Inertia Ratio
Speed Detection
Receive
Encoder
Signal
Current
PI
Processor
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
Torque Command
Filter
Pn014, Pn01C
Position
Command
Generation
Target
Position
Target
Speed
Command
Position
Command
Speed

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English