Smoothing - YASKAWA E-7S SERVOPACK SGD7S Product Manual

Example
Set the acceleration and deceleration so that the values of the two settings do not differ greatly.
If they differ greatly, the machine will not accelerate in accordance with the settings.
For example, if PnB29 is set to 99999999 and PnB2B is set to 1, then the machine's perfor-
Important mance will be unpredictable.
12.2.3

Smoothing

Smoothing allows you to apply a filter to the position reference to produce smoother Servomo-
tor acceleration and deceleration.
Note: Smoothing does not affect the travel distance.
The following parameters are related to smoothing.
Average Position Reference Movement Time
Setting Range
Pn217
0 to 10,000
*
The filter is disabled if you set the parameter to 0.
Note: Change the setting only when the Servomotor is stopped.
Speed
Target speed
The following calculation applies if the reference unit is 0.01 mm and the acceleration
time from 0 m/min to 15 m/min is 100 ms.
15,000 mm/min
= 1,500,000 reference units/min
0.01 mm
1,500,000 reference units/min
100 ms
Thus, the acceleration setting is 15 [1,000 reference units/min].
Setting Unit
0.1 ms
Pn217
Before filter
After filter
= 15,000 [(reference units/min)/ms]
Default Setting
Immediately after
0*
the motor stops
Pn217
Time
12.2 Settings for References

12.2.3 Smoothing

When Enabled Classification
Setup
12
12-5