Panasonic MINAS A6 Multi Series Technical Reference page 64

4.2.3 Positional command filtering function
To smooth the positional command processed by the electronic gear, set the command filter.
 Relevant parameters
Class No. Attribute
2 22 B
2 23 B
Pr 2.22 Positional command smoothing filter
During conventional control, when a square wave command for the target speed Vc is applied, set up
the time constant of the 1st delay filter as shown below. Set the time constant for the command filter
during 2 degrees of freedom control.
For details, refer to
"5.2.16 Two-degree-of-freedom control mode (with position control)"
"5.2.17 Two-degree-of-freedom control mode (with velocity control)"
"5.2.18 Two-degree-of-freedom control mode (with full-closed control)".
*1 Actual filter time constant (setup value x 0.1 ms) has the maximum absolute error of 0.4 ms for a time constant below 100 ms and the
maximum relative error of 0.2% for a time constant 20 ms or more.
*2 Switching of Pr 2.22 Positional command smoothing filter is performed on the rising edge of the command with the number of
command pulses/0.125 ms is changed from 0 to a value other than 0 while the positioning complete is being output.
Even if the control mode is changed to position control after Pr2.22 (Positional command smoothing filter) setting is changed during
velocity control or torque control, the setting is not changed.
If the filter time constant is decreased and positioning complete range is increased, and a many number of pulses are accumulated in
the filter (the area equivalent of "value of positional command before filter–value of positional command after filter" integrated over the
time), at the time of switching, these pulses are discharged at a higher rate, causing the motor to return to the previous position—the
motor runs at a speed higher than the command speed for a short time.
*3 Even if setting of Pr2.22 (Positional command smoothing filter) is changed, it is not immediately applied to the internal calculation. If
the switching as described in *2 occurs during this delay time, the change of Pr2.22 will be suspended.
Title Range
Positional 0 to 10000
command
smoothing filter
Positional 0 to 10000
command FIR filter
Unit Function
0.1 ms Set up the time constant of the 1st delay filter in
response to the positional command.
With the two-degree-of-freedom control, it functions as
the command response filter.
For the details, refer to "5.2.16 Two-degree-of-freedom
control mode (with position control)" and "5.2.17
Two-degree-of-freedom control mode (with velocity
control)" and "5.2.18 Two-degree-of-freedom control
mode (with full-closed control)".
0.1 ms
Set up the time constant of the FIR filter in response to
the positional command
Basic Functions
4-8