User manual

№SR-ZSV00039 － 43 －
Motor Business Unit, Appliances Company, Panasonic Corporation
*2 There is a delay in applying changed vibration suppression frequencies and damping filter setup to in-
ternal calculations. If a switching timing of *1 comes within the delay time, the changes may be suspended.
Category
No.
Parameter
Setup range
Unit Function
2 18
3
rd
damping frequency
0～2000
0.1Hz
Specifies the third damping frequency of damping control to suppress vibration of
an end of the load. Measure the frequency of the vibration of the load end and
specify in increments of 0.1 [Hz].
The effective frequency setting range is 1.0 - 200.0 [Hz]. Specifying 0 -
9
disables the setting.。
2 19 3
rd
damping filter setup
0～1000
0.1Hz
Specify a small value if torque saturation has occurred when specified to enable
the third damping frequency. Specify a large value for faster operation.
Normally, use 0 as the setting.
Note) A maximum setting value is internally limited to smaller value of
corresponding damping frequency or (2000 - damping frequency ).
2 20 4
th
damping frequency
0～2000
0.1Hz
Specifies the fourth damping frequency of damping control to suppress vibration
of an end of the load. Measure the frequency of the vibration of the load end and
specify in increments of 0.1 [Hz].
The effective frequency setting range is 1.0 - 200.0 [Hz]. Specifying 0 -
9
disables the setting.
2 21 4
th
damping filter setup
0～1000
0.1Hz
Specify a small value if torque saturation has occurred when specified to enable
the fourth damping frequency. Specify a large value for faster operation.
Normally, use 0 as the setting.
Note) A maximum setting value is internally limited to smaller value of
corresponding damping frequency or (2000 - damping frequency ).
4）Usage
Setting of damping frequency (Pr2.14, Pr2.16, Pr2.18, Pr2.20)①
Measure the vibration frequency of the end of the load. If it can be directly measured with a laser dis-
placement gauge, etc., read the vibration frequency in increments of 0.1 [Hz] from the measured wave-
form and specify the value for the parameter.
If a measuring instrument is not available, measure a frequency using the vibration frequency monitor of
the setup support software, or using the residing vibrations of position deviation waveform measured
with the waveform graphic function.
Setting of damping filter setup (Pr2.15, Pr2.17, Pr2.19, Pr2.21)②
Specify 0 first to monitor the torque waveform during operation.
Setting the large value can reduce the stabilization time, but it increases ripple at the command change
point as shown in the figure below. Specify the value in the range that does not cause torque saturation
in the actual conditions of use. Torque saturation may impair the damping effect.
Tor que comman d
Anti
-
vibration filter setting appropriate
Anti
-
vibration filter setting too l arge
Torque saturation
指令速度
位置偏差
振動周波数を算出
Command
speed
Position deviation
Calculate vibration
frequency