Panasonic A4P Series Damping Control, Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2E, SV.Pr24

[Adjustment]

Damping Control

Outline

This function reduces the vibration by removing the vibration frequency component from the com- mand when the load end of the machine vibrates.

Applicable Range

Front edge vibrates. Vibration ￿

measurement￿

							with ￿
		Setup of front edge vibration ￿			Driver		displacement￿
							sensor
		frequency			Motor
						travel
					Coupling	Work	Ball￿
Position ￿		Torque ￿			PLC		screw	Machine ￿
		command		Motor ￿				base
command	Damping ￿	Position/Velocity￿	Current￿	current
						Load
	filter	control	control		Motor
		Motor position			Encoder
		Servo driver

This function can only be applicable when the following conditions are satisfied.

Conditions under which the damping control is activated

•Control mode to be either or both position control or/and full-closed control.￿

Control mode SV.Pr02 = 0 : Position control￿

SV.Pr02 = 6 : Full-closed control

Caution

When you change the parameter setup or switch with VS-SEL, stop the action first then execute.

This function does not work properly or no effect is obtained under the following conditions.

	Conditions which obstruct the damping control effect
	• Vibration is triggered by other factors than command (such as disturbance).￿
Load	• Ratio of resonance frequency and anti-resonance frequency is large.￿
	• Vibration frequency is out of the range of 10.0 to 200.0 [Hz].

Adjustment

How to Use

(1)Setup of damping frequency (1st : SV.Pr2B, 2nd : SV.Pr2D) Measure the vibration frequency of the front edge of the machine. When you use such instrument as laser displacement meter, and can directly measure the load end vibration, read out the vibration fre- quency from the measured waveform and enter it to SV.Pr2B or SV.Pr2D (2nd vibration suppression frequency).

(2)Setup of damping filter (1st : SV.Pr2C, 2nd : SV.Pr2E)

Command ￿	Position deviation
speed	Calculation of ￿
	vibration frequency

First, set up 0.

You can reduce the settling time by setting up larger value, however, the torque ripple increases at the command changing point as the right fig. shows. Setup within the range where no torque saturation occurs under the actual condition. If torque satura- tion occurs, damping control effect will be lost.

<Remark>

Damping filter setup is ￿ appropriate.

Torque ￿ command

Damping filter setup is ￿ too large.

Torque saturation

Limit the damping filter setup with the following formula.	SV.Pr24￿	Switching mode￿
<	0, 1￿	No switching ( Both of 2 are valid.)￿
10.0 [Hz] – Damping frequency= Damping filter setup
<	￿	Switch with command direction.￿
= Damping frequency
(3) Setup of damping filter switching selection	2	CCW : 1st damping filter￿
		CW : 2nd damping filter

(SV.Pr24)

You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine.

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