Smoothing Filter - Mitsubishi Electric MELSEC iQ-R Series User Manual

Smoothing filter

• Smoothing filter removes frequencies higher than the set Frequency, and the entire waveform higher than the setting value
becomes a smooth acceleration/deceleration waveform.
• Smoothing filter outputs the result of filter processing that executed to the Master value set in MasterValueSource to Slave.
• The slave axis status (AxisName.Md.AxisStatus) is "7: SynchronizedMotion" during smoothing filter execution.
• The time constant of smoothing is 1/Frequency [s], and the acceleration time and deceleration time become longer by the
smoothing time constant. When Frequency is 10 [Hz], the smoothing time constant is 0.1 [s] = 100 [ms].
V
Positioning speed
Acceleration
time
• If a smoothing filter is started while the slave axis is in another operation instruction, the start request will be ignored, and
the error "Start Not Possible" (error code: 1AADH) will occur. Start it when the slave axis status (AxisName.Md.AxisStatus)
is "4: Standstill".
• MC_Stop is the only function block that can be multiple started during smoothing filter execution.
Details of setting items
■FilterDisable (Filter disable)
• When FilterDisable is FALSE, the axis operates according to the filter setting.
• When FilterDisable is TRUE, the filter is disabled, and Master input is transmitted to Slave.
• When FilterDisable is turned TRUE, FilterPool becomes "0".
V
Positioning speed
P
FilterPool
FilterDisable
Smoothing Deceleration
time constant time
: Master
: Slave
t
Time
Smoothing
time constant
: Master
: Slave
t
t
11 CONTROL SUB FUNCTIONS
347
11.2 Command Filter
11