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Operation
4-7-5 Position Command Filter Function
Functions
■
• Perform soft start processing for the command pulses using the selected filter to gently accelerate
and decelerate.
• Select the filter characteristics using Pn207.0 (position command filter selection).
• When Pn204 (position command filter time constant 1) is selected, acceleration and deceleration
are performed using the primary filter (exponentiation function).
• When Pn208 (position command filter time constant 2) is selected, acceleration and deceleration
are linear.
• This function is effective in the following cases:
There is no acceleration/deceleration function in the command pulse (controller).
The command pulse frequency changes rapidly, causing the machinery to vibrate during acceler-
ation and deceleration.
The electronic gear setting is high (G1/G2 ≥ 10).
Parameters Requiring Settings
■
Parameter No.
Parameter name
Pn207.0
Select position control filter Select either primary filter (setting: 0), or linear acceleration
Pn204
Position control filter time
constant 1 (primary filter)
Pn208
Position control filter time
constant 2 (linear acceler-
ation and deceleration)
Note If not using the position command filter function, set each to 0 (i.e., the default setting).
Operation
■
• The characteristics for each filter are shown below.
• Servomotor acceleration and deceleration are delayed further than the characteristics shown below
due to position loop gain delay.
Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain (Pn102)
●
Primary Filter
Command pulse
input frequency
Input frequency x 0.63
Input frequency x 0.37
and deceleration (setting: 1).
Enabled when Pn207.0 = 0. Be sure to set the primary filter
time constant (setting range = 0 to 6400 ( × 0.01 ms)).
Enabled when Pn207.0 = 1. Be sure to set the acceleration and
deceleration times (setting range = 0 to 6400 ( × 0.01 ms)).
Speed
Pn204
Explanation
Time
Pn204
Chapter 4
4-31
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