Panasonic Minas E Series Instruction Manual

Also see for Minas E Series: Technical reference

Contents

142MotorEncoderServo driverMotor positionLoadMotorCoupling BallscrewMovablebodyMovementDriverSequencerSet vibration frequency at a leading endPositioncommand VibrationdampingfilterThe leading endvibratesVibration observed by adisplacement sensorPosition VelocityControlTorquecommand CurrentcontrolMotorcurrentMachinepedestalAnti-Vibration ControlOutlineWhen the leading end of a device vibrates, the functionremoves vibration frequency component from a commandand reduces vibration.ScopeThis function cannot apply unless the following conditions are met:CautionsChange the parameter setting, after the operation stops.The motor may not function normally or take effect under the following conditions:Usage(1) Setting vibration damping frequency (Pr2B)Measure vibration frequency at a leading end of a device. If you candirectly measure vibration at leading end by means of a laserdisplacement gauge, etc., read vibration frequency [Hz] from themeasured waveform and enter it into vibration damping frequency(Pr2B).In addition, if you do not have a measuring instrument, readfrequency [Hz] of residual vibration from position deviation waveformby using the waveform graphic function of our setup supportsoftware “PANATERM® ”, as shown in the right figure, and set the vibtationdamping frequency. Setting 0 to 99 will be disabled.(2) Setting vibration damping filter (Pr2C)First set it to 0.You can shorten the stabilization time bysetting a higher value. However, torqueripple increases at a command change point,as shown in the right figure. Thus, underactual use conditions, set it so that no torquesaturation will occur. Occurrence of torquesaturation will diminish vibration suppressioneffect.Control modeConditions under which anti-vibration control worksIt shall be position control.Pr02=0: In high speed response positioning control, real time auto tuning and first notch filter aredisabled.Pr02=2: High function positioning controlLoadConditions that hinder anti-vibration controlWhen vibration is energized by a factor (such as external force) other than commandWhen the ratio of resonance frequency and antiresonance frequency is largeWhen vibration frequency is high (100 [Hz] or higher)CommandspeedPosition deviationCalculate vibrationfrequencyTorque commandTorque saturationPr2C is highPr2C is appropriateManual Gain Tuning (Application)Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com