Vibration Suppression Command Filter 2; Feed Current Value Monitor Device After Filter; Command Output Complete Signal After Filter - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Vibration suppression command filter 2

Mode selection device
Set the device that assigns vibration suppression command filter 2 as the filter method.
With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal
after filter: ON).
With the filter disabled, a sudden operation may occur if vibration suppression command filter is enabled during positioning
operation. Check command speed and travel distance, and ensure safety before using the vibration suppression command
filter.
The following values are set to the mode selection device.
Setting value
0
3
When the mode selection device is a value outside of range, a warning (error code: 0A3AH) occurs, and the mode setting is
not reflected even if changed.
Frequency
Set the frequency for suppressing vibration of the vibration suppression command filter 1.
The valid frequency range is shown below according to operation cycle and filter method set by the mode selection device.
The vibration suppression command filter is invalid when operation cycle is set to 7.111[ms].
Operation cycle[ms]
0.222
0.444
0.888
1.777
3.555
When the frequency is a value outside of range, a warning (error code: 0A3BH) occurs, and the value is changed to the lower
limit value if the input value is lower than the range, and changed to the upper limit value if the input value is higher than the
range.

Feed current value monitor device after filter

Set the device that monitors the feed current value after filter that includes the delay caused by the vibration suppression
command filter.
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" does not include the delay from the
vibration suppression command filter. In order to check the actual send value to the servo amplifier after filter, set this device
and monitor it.
For speed control mode, torque control mode, continuous operation to torque control mode, and pressure control mode, the
same value as the feed current value is stored when filter is disabled.
When backlash compensation amount has been set, feed pulses of the backlash compensation amount are added to the
position command value but are not added to this device.

Command output complete signal after filter

Set the device that monitors command output complete after filter for the servo amplifier.
This device turns OFF during command output after filter, and turns ON when command output is stopped after filter. The
device remains ON when filter is disabled.
For operation patterns that repeat forward rotation and reverse rotation, as this device turns ON/OFF during positioning
operations, use the device with complete signals of operation patterns such as "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" or "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)".
Filter method
Disabled
IIR filter
Valid range[Hz]
IIR filter
1.00 to 250.00
1.00 to 200.00
1.00 to 100.00
1.00 to 50.00
1.00 to 25.00
3 PARAMETERS FOR POSITIONING CONTROL
3.11 Vibration Suppression Command Filter Data
3
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