Panasonic MINAS A6 Series - Page 227

4-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Default: [ ]
1. Details of parameter
[Class 2] Damping control
Pr2.12
4th notch depth selection
Range Unit Default
Related
control mode
0 to 99 — 0 P S T F
Caution
Setthedepthofnotchatthecenterfrequencyofthe4thnotchlter.
Higherthesetup,shallowerthenotchdepthandsmallerthephasedelayyoucanobtain.
Whentheapplicablelterfunctionisused,parametervalueisautomaticallyset.
Pr2.13
Selectionofdampingfilterswitching
Range Unit Default
Related
control mode
0 to 6 — 0 P F
Among4ltersselectthelterstobeusedfordampingcontrol.
•Whensetupvalueis0:Upto2lterscanbeusedsimultaneously.
• Whensetupvalueis1or2:Selectthelterwithexternalinput(s)(VS-SEL1and/orVS-SEL2).
Setup
value
VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
[0] — —
1
— OFF
— ON
2
OFF OFF
OFF ON
ON OFF
ON ON
•Withsetupvalue3:Selectthelterwithcommanddirection.
Setup
value
Position command
direction
1st damping 2nd damping 3rd damping 4th damping
3
Positivedirection
Negativedirection
Contentsofsetupvalues4to6willdifferwithenabled/disabledswitchingoftwodegree-of-
freedom control mode.
•Positioncontrol(Twodegree-of-freedomcontrolmodedisabled).
Setup value VS-SEL1 1st model 2nd model 3st model 4st model
4 —
○ ○ ○
5,6 Sameactionassetvalue0
•Positioncontrol(Twodegree-of-freedomcontrolmodeenabled).
Setup value VS-SEL1 1st model 2nd model
4 —
○ ○
5
OFF
○
ON
○
Setup value Position command direction 1st model 2nd model
6
Positivedirection
○
Negativedirection
○
•full-closecontrol.
Setup value 1st model 2nd model 3st model 4st model
4 to 6
○ ○
Caution
• Switchingofdampingcontrolswillbedoneontherisingedgeofthecommandwhosenumberof
pulses/0.125mshasbeenchangedfrom0whilethepositioningcompletesignalisbeingoutput.
 Whenthedampingfrequencyisincreasedordisabled,andpositioningcompleterangeislarge,and
pulsesarestoredinthelteratthattime(thearearepresentedbythevalueofpositioncommandbefore
ltersubtractedbythevalueofpositioncommandafterlterandintegratedwiththetime).Notethatsince
thesepulseswillbedischargedatahigherrateuponswitchingtoreturnbacktotheoriginalposition,the
motor may run at a speed higher than the command speed for a short time.
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