Smoothing - YASKAWA Sigma-V Series User Manual

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.
Position Reference Acceleration/Deceleration Time
Constant
Pn216 Setting Range
0 to 65535
Average Movement Time of Position Reference
Setting Range
Pn217
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 average
movement time of position reference (Pn217) is shown below.
Acceleration/Deceleration Filter (Pn216)
Reference pulse
frequency
100%
63.2%
Pn216
Setting Unit
0.1 ms
Setting Unit
0.1 ms
While the servomotor is rotating, 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.
Before filter applied
After filter applied
36.8%
Time
Pn216
–
Position
Factory Setting When Enabled
Immediately after the
*
0
servomotor stops
Position
Factory Setting When Enabled
Immediately after the
*
0
servomotor stops
Average Movement Time Filter (Pn217)
Reference pulse
frequency
100%
Pn217
Reference pulse
Pn217
frequency
100%
5.4 Position Control
Classification
Setup
Classification
Setup
Before filter applied
After filter applied
Time
Pn217
Before filter applied
After filter applied
Pn217
Time
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