Speed Command Filter; Function Restriction; Function Description; Application Example - Delta ASDA-B3 Series User Manual

ASDA-B3 Tuning

5.7.7 Speed command filter

5.7.7.1 Function restriction

5
Set the control mode (P1.001.YX) to Speed mode (S or Sz).

5.7.7.2 Function description

After the speed command is processed with the first-order low-pass filter, the unwanted
high-frequency response or noise is attenuated, and the command becomes smoother.

5.7.7.3 Application example

When the position control circuit of the machine is built in the controller, the servo is in analog
Speed mode (S) and receives the external analog voltage speed command issued by the
controller. To reduce the analog voltage noise, which can be detected by setting the channel to
Speed command: Voltage [Volt] in the Scope function of ASDA-Soft, increase the setting
value of P1.006. However, if the filter time is set too long, the position control response of the
controller becomes slower. If desiring to keep the position control response stable, set the filter
bandwidth 8 times (or more) the position bandwidth of the controller.
Relevant parameter
Refer to Chapter 8 for detailed descriptions of the relevant parameter.
Parameter Function
P1.006 Speed command - smoothing constant (low-pass filter)
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