No. SX-DSV02472 -74-
3) Parameters
Set up damping control operation using the parameters shown below.
Class No.
At-
trib-
ute
Title Range Unit Function
2 13 B
filter switching
0–3 —
Among 4 filters select the filters to be used for damping control.
• When setup value is 0: Up to 2 filters can be used simultaneously.
• When setup value is 1 or 2: Maker use (Do not modify this parameter.)
• With setup value 3: Select the filter with command direction.
2.13
command
damping
damping
damping
damping
Note) CCW direction is positive.
2 14 B
1st damping
frequency
0–2000 0.1 Hz
You can set up the 1st damping frequency of the damping control which
suppresses vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1 [Hz]
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes
2 15 B
1st damping filter
setup
0–1000 0.1 Hz
If torque saturation occurs with damping frequency 1st enabled, decrease
the setup value, or if the operation is slow, increase it. Usually set it to 0.
Note: The maximum setup value is internally limited to the
corresponding damping frequency or 2000–damping frequency,
6 41 B 1st damping depth 0−1000 —
Specifies a depth corresponding to the 1st damping frequency.
The depth is maximum if the setting value is 0. As the setting value
increases, the depth decreases. As the depth increases, the damping effect
increases, but the delay also increases. As the depth decreases, the delay
decreases, but the damping effect also decreases.
Use the parameter to fine adjust the damping effect and delay.
2 16 B
2nd damping
frequency
0–2000 0.1 Hz
You can set up the 2nd
damping frequency of the damping control which
suppresses vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1 [Hz].
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes
2 17 B
2nd damping filter
setup
0–1000 0.1 Hz
If torque saturation occurs with damping frequency 2nd enabled,
decrease the setup value, or if the operation is slow, increase it. Usually
set it to 0.
Note: The maximum setup value is internally limited to the
corresponding damping frequency or 2000–damping frequency,
*1 Switching between the damping frequency and damping filter setting is performed at the rising edge of the command
that causes the number of command pluses per command detection period (0.166 ms) (at upstream of position
command filter) changes from 0 to any other value while the positioning complete is being output.
Even if the control mode is changed to position control after changing the damping frequency and damping filter
settings during velocity control or torque control, the setting is not changed.
Especially, at higher damping frequency, or if it becomes disabled, and wider positioning complete range is set up,
and if large pulse (area is equivalent of time integration of the value of position command at upstream of the filter
minus the value of position command at downstream of filter) remains in the filter during switching, it is rapidly
discharged upon switching and returns to original position, and the motor will move at a speed higher than normal
command velocity.
*2 There is delay from setting change of damping frequency or damping filter to internal computation and application of
new setting values. If the switching described in *1 occurs during this delay time, application of new value will be
suspended.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
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