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28.11.7 Operations in Case of Transient Response
In case of transient response when the motor is activated, the digital filter computation circuit
must prevent computation due to a large error. The convergence of the computations becomes
slow and servo retraction becomes deteriorating if a large error is input to the filter circuit when
it is performing repeated computations. To prevent them from occurring, operate the filter (set
constants A and B) after pulling in the speed and phase within a certain range of error, initialize
-1
Z
(set initial values in CZp, CZs, DZp, DZs)(see section 28.11.8, Initialization of Z
the error data limit function (see section regarding the error detector).
28.11.8 Initialization of Z
-1
Z
can be initialized by its delay initialization register (CZp, CZs, DZp, DZs). Loading to Z
performed automatically by bits 4 and 3 of CFIC and DFIC (CZPON, CZSON, DZPON,
DZSON). Writing in register is always available, but loading in Z
digital filter is performing calculation processing in relation to such register. In such a case,
-1
loading to Z
will be done the next time computation begins. Figure 28.42 shows the
initialization circuit of Z
The delay initialization register sets 12-bit data. The MSB (bit 11) is a signed bit. Z
for integers and 8 bits for decimals. Accordingly, the same value as the signed bits should be set
in the 13 bits on the MSB side of Z
Example: Value set for the delay initialization register
MSB
1
0
0 0 0 0 0 0 0 0 0 0
Rev. 2.0, 11/00, page 738 of 1037
-1
-1
.
-1
, and 0 in the entire decimal section.
MSB
1 1 1 1 1 1 1 1 1 1 1 1 1
Set here the value in the
signed bits
-1
is not possible when the
-1
Value set for Z
0
0
0
0
0
0
0
0
0
0
0
-1
), or use
-1
is
-1
has 24 bits
0 0 0 0 0 0 0 0
Fixed
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