Omron R88D-KN series User Manual page 280

9 Servo Parameter Objects
Damping Filter 4 Setting
3221 hex
Setting range 0 to 1000
Size 2 bytes (INT16)
• First set
Damping
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000  damping frequency).
Refer to 11-5 Damping Control on page 11-16.
Position Command Filter Time Constant
3222 hex
Setting range 0 to 10000
Size 2 bytes (INT16)
• The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
• This constant is used to reduce the stepping movement of the motor to achieve a smooth operation
when the electronic gear ratio is set to 10 times or greater.
• It sets the first-order lag filter time constant, as shown below, for the square-wave command of target
speed Vc.
Input position command
Speed
Target speed Vc
*1
Vc × 0.632
*1
Vc × 0.368
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and
0.2% max. (relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per
0.250 ms changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new
value is applied in internal calculations. If the filter switch wait time expires during this delay, the change may
be placed on hold.
Precautions for Safe Use
If a large Position window is set, decreasing the Position Command Filter Time Constant may
cause a sudden motor movement immediately after switching.
This occurs due to the pulses accumulated in the filter at the time of switching, which are
distributed rapidly after switching to restore the normal position.
Be careful as the motor may temporarily move faster than the expected command speed.
9-22
Unit 0.1 Hz
Access
Frequency 4 (3220 hex). Then reduce the setting if torque saturation occurs or
Unit 0.1 ms
Access
t
f
*3
t = (3222 hex × 0.1 ms)
f
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default setting 0
RW PDO map
Default setting 0
RW PDO map
Position command after
the smoothing filter process
t
f
Filter switching
*2
dwell time
csp pp hm
Data attribute B
Not possible.
csp pp hm
Data attribute B
Not possible.
Time