Smoothing - YASKAWA SGDV SERVOPACK User Manual

5 Operation

5.4.5 Smoothing

5.4.5 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 reference pulses).
 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 average
movement time of position reference (Pn217) is shown below.
Reference pulse
frequency
100%
63.2%
5-46
Position Reference Acceleration/Deceleration Time
Constant
Setting Range
0 to 65535
Average Movement Time of Position Reference
Setting Range
0 to 10000
While the servomotor is moving, changes in Pn216 or Pn217 will not be reflected. The
changes will be effective after the servomotor comes to a stop with no reference pulse
input.
Acceleration/Deceleration Filter (Pn216)
Pn216 Pn216
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Setting Unit Factory Setting
0
0.1 ms
Setting Unit Factory Setting
0
0.1 ms
Average Movement Time Filter (Pn217)
Reference pulse
Before filter applied
frequency
After filter applied
100%
36.8%
Time
Reference pulse
frequency
100%
Position
When Enabled
Immediately after the
*
servomotor stops
Position
When Enabled
Immediately after the
*
servomotor stops
Pn217
Pn217
Pn217
Classification
Setup
Classification
Setup
Before filter applied
After filter applied
Time
Before filter applied
After filter applied
Pn217
Time