Omron R88D-KN series User Manual page 313

Origin Range
3803 hex
Setting range 0 to 250
Size 2 bytes (INT16)
• Set the threshold for detecting the origin as an absolute value.
Position Command FIR Filter Time Constant
3818 hex
Setting range 0 to 10000
Size 2 bytes (INT16)
• Set the time constant of FIR filter for the position command.
• The Position command FIR filter can be selected to enable or disable, by the position command filer
switch input via EtherCAT communications.
• Enable and disable the position command FIR filter in the Motion profile type (6086 hex).
• It can be set only when the Communications synchronization is 1 ms or more.
• It sets the time to arrive at the target speed Vc, as shown below, for the square-wave command of Vc.
Speed [mm/s]
Vc
*1 Change the Position Command FIR Filter Time Constant (3818 hex) setting only after the command pulse
stops and the filter switching dwell time elapses.
The dwell time is calculated by the following formulas depending on the value set on 3818 hex. If 3818 hex set
value is less than 10 ms, the set value × 0.1 ms + 0.25 ms. If 3818 hex set value is more than 10 ms, the set
value × 0.1 ms × 1.05.
Precautions for Correct Use Precautions for Correct Use
• If the Position Command FIR Filter Time Constant (3818 hex) is changed when the position
command is entered, the change is not reflected immediately. It is updated only after the
subsequent state of no position command persists for the filter switching dwell time.
• There is some time lag from when the Position Command FIR Filter Time Constant (3818 hex)
is change and to when the change is applied. If the filter switching dwell time elapses during
the lag, the change may be suspended.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit Command unit Default setting
Access
Unit 0.1 ms
Access
Pre-filter Post-filter
position command position command
Position Command FIR Filter
Time Constant [ms]
3818 hex × 0.1 ms
9 Servo Parameter Objects
10
RW PDO map
Default setting 0
RW PDO map
Filter switching
*1
dwell time
All
Data Attribute A
Not possible.
csp pp hm
Data attribute B
Not possible.
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9