Smoothing - YASKAWA SGMJV User Manual

5 Operation

5.4.4 Smoothing

5.4.4 Smoothing

Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow-
ing cases.
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
Note: This function does not affect the travel distance (i.e., the number of pulses).
(1) Related Parameters
Set the following filter-related parameters.
Change the setting while there is no reference pulse input and the servomotor stops.
Pn216
Pn217
∗
When set to 0, a filter becomes ineffective.
<Note>
The difference between the position reference acceleration/deceleration time constant (Pn216) and the position reference
movement averaging time (Pn217) is shown below.
Reference pulse
frequency
100%
63.2%
5-42
Position Reference Acceleration/Deceleration Time
Constant
Setting Range Setting Unit
0 to 65535
Average Movement Time of Position Reference
Setting Range Setting Unit
0 to 10000
While the motor is rotating, changes in Pn216 or Pn217 will not be reflected. The
changes will be effective after the motor comes to a stop with no reference pulse input.
Acceleration/Deceleration Filter
Pn216 Pn216
Response waveform for stepwise input
Factory Setting
*
0
0.1 ms
Factory Setting
*
0
0.1 ms
Reference pulse
Before filter applied
frequency
After filter applied
100%
36.8%
t
Response waveform for stepwise input
Reference pulse
frequency
100%
Position
When Enabled
Immediately after the
servomotor stops
Position
When Enabled
Immediately after the
servomotor stops
Average Movement Time Filter
Before filter applied
After filter applied
Pn217
Pn217
Pn217
Before filter applied
After filter applied
Response waveform for ramp reference input
Classification
Setup
Classification
Setup
t
Pn217
t