Moving Smoothing Filter - Servotronix CDHD2S User Manual

Tuning
Figure 8-24 Tuning gear filter

8.9 Moving Smoothing Filter

Note ServoStudio2 has not been fully updated.
The HD control provides three options for smooth position command, defined by the
parameter MOVESMOOTHMODE.
Figure 8-25 Smoothing filter
To apply a smoothing filter to external reference commands, such as pulse train or
EtherCAT/CANopen, specific bits in MOVESMOOTHSRC must first be set.
MOVESMOOTH0:
Profile smoothing without position command.
MOVESMOOTH1:
MOVESMOOTHLPFHZ-based profile low-pass
smoothing (in Hz).
The lower the value, the greater the
smoothness.
MOVESMOOTH2:
Average (in ms) S-curve based on MOVESMOOTHAVG.
Time expands the average.
Binary values (2, 4, 8, 32, 64, 128, 256)
Gear filter - example 2
Increasing GEARFILTT2 and
VELFF can compensate for the delay,
but it will increase the overshoot.
IfGEARFILTVELFF=GEARFILTT2，
no delay.
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