Panasonic MINAS A6 Series - Hybrid Vibration Damping Function

5-59
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5
5. Manual Gain Tuning (Application)
Adjustment
Hybrid vibration damping function
Outline
This function suppresses vibration due to amount of twist between the motor and load in
the full closed control mode. This function enables high gain setting.
Applicable range
This function can be applicable only when the following conditions are satised.
Conditions under which the Hybrid vibration damping function is activated
Control mode • Full-closed control mode
Others
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
Caution
The effect of this function will be proportional to the amount of twist between the motor
and load.
Related
Parameter
Class No. Title Function
6 34
Hybrid vibration
suppression gain
Set up the hybrid vibration suppression gain for full-closed
controlling.
First set it to the value identical to that of poison loop gain, and
then ne tune as necessary.
6 35
Hybrid vibration
suppression lter
Set up the time constant of the hybrid vibration suppression lter
for full-closed controlling.
How to Use
[1] Set Pr6.34 Hybrid vibration suppression gain to the value equal to that of positional loop
gain.
[2] Driving under full closed control, gradually increase the setup value of Pr6.35
Hybrid vibration suppression filter while checking response change.
When the response is improved, adjust Pr6.34 and Pr6.35 to determine the combination
that provides the best response.
Related page
• P.4-6 to P.4-85... “Details of parameter”
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