Chapter 3 – Configuration
25
Damping
These commands are used to configure the drive’s settings for damping. A
procedure for adjusting damping settings is presented below. Relevant commands
are:
Command Description Options:
DACTDP active damping gain you enter a number
DDAMPA damping during acceleration can be turned on or off
DELVIS electronic viscosity can be turned on or off
DABSD ABS damping can be turned on or off
Procedure for Configuring Advanced Features
The Gemini drive has advanced motor control features that you can configure for
increased damping, increased low speed smoothness, and increased disturbance
rejection; and for detecting motor stalls.
Configuring Damping Settings
The Gemini drive’s three damping modes reduce vibration, increase low speed
smoothness, and decrease load settling time. These damping modes are indepen-
dent of each other, and operate within specific velocity ranges.
ABS Damping
ABS damping provides load-invariant damping at extreme low speeds. It
targets applications that require minimal zero-speed settling time (for ex-
ample, pick-and-place applications with varying load).
Velocity
Command Function Range Default Required Parameters
DABSD ABS Damping 0 to 0.2 rps* Disabled DMTRES, DMTIND
*motor dependent
Electronic Viscosity
Electronic viscosity targets applications that require reduced low-speed
velocity ripple and increased smoothness, as well as aggressive low-speed
damping. NOTE: If ABS Damping is enabled, it overrides electronic viscosity
in the 0 to 0.2 rps velocity range.
Velocity
Command Function Range Default Required Parameters
DELVIS Electronic Viscosity 0 to 3 rps** Disabled DMTJ, DMTSTT, DPOLE
DMTIC, DMTIND, LJRAT
**motor and load dependent
Active Damping
Active damping targets applications that require high accelerations, fast
settling at commanded speed, mechanical vibration disturbance rejection, and
highly stable (non-resonant) motion.
Velocity
Command Function Range Default Required Parameters
DACTDP Active Damping >3 rps Enabled DMTJ, DMTIND,
(DACTDP4) DMTSTT, LJRAT
Note: You can use the DDAMPA command to disable ABS damping and elec-
tronic viscosity during acceleration rates greater than 50 rps
2
. This allows full
motor torque to be used during acceleration.
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