Omron OMNUC G Series User Manual

5-52
5-25 Damping Control
Operating Functions
5
Note Details on the vibration filter settings are as follows.
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 Filter
Selection
Mode Selection Description of setting
Filter type
selection
Normal type
Vibration frequency setting range 10.0 to 200.0 Hz
(Disabled when set to 0 to 99)
Adaptive filter can be used
Low-pass type
Vibration frequency setting range 1.0 to 200.0 Hz
(Disabled when set to 0 to 9)
Adaptive filter cannot be used (forcibly set to disabled)
Switching mode
selection
No switching Both Vibration Frequency 1 and 2 are enabled.
Switching with
command direction
Selects Vibration Frequency 1 in forward direction
(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
Control Mode
 In speed and torque control modes.
Load status
 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
 (6.28)).
(10 Hz when the position loop gain is 63 [1/s].)
Precautions
for Correct Use

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English