Panasonic MINAS A6 Multi Series Technical Reference page 65

4.2Position control
Pr2.23 Positional command FIR filter
When a square wave command of target speed Vc is applied, set up the Vc arrival time as shown in the
figure below.
*1 The actual average travel time (setup value x 0.1 ms) has the maximum absolute error of 0.2 ms for a time constant below 10 ms and
the maximum relative error of 1.6% for a time constant 10 ms or more.
*2 When changing the setting of Pr2.23 (Positional command FIR filter), stop the command pulse and wait until the filter switching wait
time has elapsed. The filter switching wait time will be setup value x 0.1 ms + 0.25 ms when the setup time is below 10 ms, or setup
value x 0.1 ms x 1.05 when the setup time is over 10 ms. If Pr 2.23 is changed during the command pulse is being input, the change is
not reflected until the command pulse-less state has continued for the filter switching wait time. Change will be reflected after the
control power reset.
*3 Even if setting of Pr2.23 (Positional command FIR 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 Pr2.23 will be suspended.
When the positional command is trapezoidal wave, its waveform will be shaped to S at the output of the
filter.
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