Smoothing Settings - YASKAWA SGD7S series Product Manual

6.6 Position Control

6.6.4 Smoothing Settings

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.
Pn216
Pn217
*
*The filter is disabled if you set the parameter to 0
Information
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 pul e
frequency
100%
6 .2%
6-36
Position Reference Acceleration/Deceleration Time Constant
Setting Range Setting Unit
0 to 65,535
Average Position Reference Movement Time
Setting Range Setting Unit
0 to 10,000
Changes to the settings in Pn216 or Pn217 are not applied while the Servomotor is operat-
ing. The changes will be enabled the next time the Servomotor comes to a stop.
Pn216 Pn216
–
Default Setting
*
0.1 ms
0
Default Setting
*
0.1 ms
0
Average Position Reference Movement Filter
Reference pul e
Before filter
frequency
After filter
100%
6.8%
Time
Reference pul e
frequency
100%
Position
When Enabled
Immediately after
the motor stops
Position
When Enabled
Immediately after
the motor stops
Before filter
After filter
Pn217
Pn217
Pn217
Classification
Setup
Classification
Setup
Time
Before filter
After filter
Pn217
Time