Figure 25. Position Command Filter; Table 30. Position Command Filter Related Objects - Parker P Series User Manual

Figure 25. Position Command Filter

Position command filter using position command average filter time constant (0x210A).
 Related Objects
Sub
Index
Index
Position Command Filter
0x2109 -
Time Constant
Position Command
0x210A - Average Filter Time
Constant

Table 30. Position Command Filter Related Objects

6.6.2 Signals Related to Position Control
As shown in the figure below, if the value of position error (i.e., the difference between the
position command value input by the upper level controller and the position feedback value)
is not more than the INPOS1 output range (0x2401), and is maintained for the INPOS1 output
time (0x2402), the INPOS1 (position completed 1) signal will be output, provided that the
position command is not renewed.
At this moment, if the position error value is not more than the INPOS2 output range (0x2403),
the INPOS2 (position completed 2) signal will be output, regardless of whether the position
command has been renewed or not.
Parker Hannifin
Name
P series EtherCAT Drive User Guide
Variable
Format Accessibility
UINT RW
UINT RW
PDO
Unit
Allocation
Yes 0.1ms
Yes 0.1ms
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