Smoothing Settings - YASKAWA SGD7S Product Manual

6.6.4

Smoothing Settings

Smoothing allows you to apply a filter to the position reference to produce smoother Servomo-
tor operation. Smoothing is effective in the following cases.
• When the host controller that outputs the references cannot perform acceleration or deceler-
ation
• When the reference pulse frequency is very low
Note: Smoothing does not affect the travel distance (i.e., the number of reference pulses).
The following parameters are related to smoothing.
Change the settings while there is no reference pulse input and the Servomotor is stopped.
Position Reference Acceleration/Deceleration Time Constant
Setting Range
Pn216
0 to 65,535
Average Position Reference Movement Time
Setting Range
Pn217
0 to 10,000
*
*The filter is disabled if you set the parameter to 0
Changes to the settings in Pn216 or Pn217 are not applied while the Servomotor is operat-
Information
ing. The changes will be enabled the next time the Servomotor comes to a stop.
The difference between the position reference acceleration/deceleration time constant (Pn216)
and the average position reference movement time (Pn217) is shown below.
Position Reference Acceleration/Deceleration Filter
Reference pulse
frequency
100%
63.2%
Pn216
Setting Unit
0.1 ms
Setting Unit
0.1 ms
Before filter
After filter
36.8%
Time
Pn216
–
Default Setting When Enabled
Immediately after
*
0
the motor stops
Default Setting When Enabled
Immediately after
*
0
the motor stops
Average Position Reference Movement Filter
Reference pulse
frequency
100%
Pn217
Reference pulse
Pn217
frequency
100%
6.6 Position Control

6.6.4 Smoothing Settings

Position
Classification
Setup
Position
Classification
Setup
Before filter
After filter
Time
Pn217
Before filter
After filter
Pn217
Time
6-35
6