Smoothing - YASKAWA E-V Series User Manual

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.
• When the reference electronic gear ratio is too high (i.e., 10 times or more).
Note: This function does not affect the travel distance (i.e., the number of pulses).
(1) Related Parameters
Set the following filter-related parameters.
Position Reference Acceleration/Deceleration Time
Constant
Pn216
Setting Range
0 to 65535
Average Movement Time of Position Reference
Pn217
Setting Range
0 to 10000
∗
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.
Acceleration/Deceleration Filter
100%
63.2%
Pn216
Response waveform for stepwise input
Setting Unit
0.1 ms
Setting Unit
0.1 ms
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.
Before filter applied
After filter applied
36.8%
t
Pn216
5.4 Operating Using Position Control with Pulse Train Reference
Position
Factory Setting When Enabled
* Immediately
0
Position
Factory Setting When Enabled
* Immediately
0
Average Movement Time Filter
100%
Pn217
Response waveform for stepwise input
Pn217
Response waveform for ramp reference input
Classification
Setup
Classification
Setup
Before filter applied
After filter applied
t
Pn217
Before filter applied
After filter applied
Pn217
t
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