User manual

№SR-ZSV00039 － 42 －
Motor Business Unit, Appliances Company, Panasonic Corporation
3）Related parameters
The operation of damping control can be specified by using the following parameters.
Category
No.
Parameter
Setup range
Unit Function
2 13
Selection of damping
filter switching
0～3
-
Specifying the mode for switching between four filte
rs used for
damping control.
・up to two filters can be used simultaneously.
・1 or 2: switched by external input (VS-SEL1/VS-SEL2)
Pr
2.13
VS-
SEL2
VS-
SEL1
1
st
vibration
suppressi
on
2
nd
vibration
suppressi
on
3
rd
vibration
suppressi
on
4
th
vibration
suppressi
on
0 - -
Enabled Enabled Invalid Invalid
- OFF
Enabled Invalid Enabled Invalid
1
- ON
Invalid Enabled Invalid Enabled
OFF OFF
Enabled Invalid Invalid Invalid
OFF ON
Invalid Enabled Invalid Invalid
ON OFF
Invalid Invalid Enabled Invalid
2
ON ON
Invalid Invalid Invalid Enabled
・3: switched by direction
Pr
2.13
Position com-
mand
1
st
vibration
suppressi
on
2
nd
vibration
suppressi
on
3
rd
vibration
suppressi
on
4
th
vibration
suppressi
on
Positive
Enabled Invalid Enabled Invalid
3
Negative
Invalid Enabled Invalid Enabled
2 14 1
st
damping frequency
0～2000
0.1Hz
Specifies the first 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 15 1
st
damping filter setup
0～1000
0.1Hz
Specify a small value if torque saturation has occurred when
specified to enable the first 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 16 2
nd
damping frequency
0～2000
0.1Hz
Specifies the second 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 17 2
nd
damping filter setup
0～1000
0.1Hz
Specify a small value if torque saturation has occurred when
specified to enable the second 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 ).
*1 1 Switching of damping frequency and damping filter setup is performed during output of positioning
completion, and upon starting up command of changing command pulse (before positioning command filtering)
from “0” to a value other than “0” for an command pulse detection cycle (0.166 ms).
If damping frequency is particularly high or it is changed to be invalid, and a wide range of positioning com-
pletion has been specified, massive amount of residing pulses in the filter (an area found by integrating a value of
subtracting position command after filtering from position command before filtering with time) may be suddenly
released immediately after switching. Therefore, a sudden action of returning to a correct position may result in
temporary rotation of motor faster than originally instructed. Use caution.