9-23
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-3 Vibration Suppression Settings
9
• Set the method to switch among four damping control filters.
Explanation of Set Values
*1 The set value 1 and 2 are for manufacturer's use only. Users are not allowed to set 1 and 2 for this object.
• Set damping frequency 1 to suppress vibration at the end of the load in damping control.
• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• The range of setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-17.
• First set
Damping Frequency 1 (3214 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000 − damping frequency).
• Refer to 11-5 Damping Control on page 11-17 for more information on settings.
• Set
damping frequency 2 to suppress vibration at the end of the load in damping control.
• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-17 for more information on settings.
3213 hex
Damping Filter Selection
Setting range 0 to 3 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Explanation
0 Up two damping filters, damping filters 1 and 2, can be used at the same time.
1
Reserved for manufacturer use
*1
2
Reserved for manufacturer use
*1
3 The damping filters are switched with position command direction.
• Forward direction: Damping filters 1 / 3 enabled
• Reverse direction: Damping filters 2 / 4 enabled
3214 hex
Damping Frequency 1
Setting range 0 to 2000 Unit 0.1 Hz
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3215 hex
Damping Filter 1 Setting
Setting range 0 to 1000 Unit 0.1 Hz
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3216 hex
Damping Frequency 2
Setting range 0 to 2000 Unit 0.1 Hz
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
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