Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 473

• If the filter method setting (1: Smoothing filter, 2: FIR filter, 3: IIR filter) for the "mode selection device" of "vibration
suppression filter 1/2" is changed to "0: Invalid" while the vibration suppression command filter is operating, the vibration
suppression command filter is not invalid immediately. The vibration suppression command filter is invalid when command
output complete signal after filter turns ON.
V
Servo program start
[St.1040] Start accept flag
OFF
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
OFF
(R: M32401+32n/Q: M2401+20n)
ON
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
Vibration suppression
command filter frequency
Vibration suppression
command filter
0: Invalid
mode selection device
ON
Command output complete
signal after filter
• When a servo program is started up consecutively before the command output complete signal after filter turns ON, filter
processing continues and does not become invalid even by changing the mode selection device to "0: Invalid".
V
Servo program start
[St.1040] Start accept flag
OFF
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
OFF
(R: M32401+32n/Q: M2401+20n)
ON
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
Vibration suppression
command filter frequency
Vibration suppression
command filter
0: Invalid
mode selection device
ON
Command output complete
signal after filter
[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)
Command in-position
set value
ON
OFF
0
1: Smoothing filter
OFF
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/
Q: D0+20n, D1+20n)
Command in-position
set value
ON
OFF
0
1: Smoothing filter
OFF
Feed current value after filter
Filter change
processing starts
ON
20.0Hz
0: Invalid
Filter continues
as enabled
Feed current value
after filter
ON
20.0Hz
0: Invalid
Filter is invalid before positioning complete
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Vibration Suppression Command Filter
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