User manual of EL8-EC***F AC Servo
285
Position command filter function
To smoothen the position command after frequency divider/multiplier
Pr2.22
Name
Position command
smoothing filter
Mode
PP
H
M
CS
P
Range
0~32767 Unit
0.1ms Default
0
Index
2222h
Activation
Stop axis
To set time constant of 1 time delay filter of position command.
To set time constant of 1 time delay filter, according to target velocity Vc square wave
command as show below.
Velocity
(RPM)
Position
command
before filter
Position command
after filter
Filter
switching
time
Time
Vc
Vc 0.632
Vc 0.368
Position command
smoothing filter set
time(ms)
Pr2.22 x 0.1ms
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate vibration.
If Pr2.22 is set too high, overall time will be lengthened.
Pr2.23
Name
Position command FIR filter Mode
PP
H
M
CS
P
Range
0~10000
Unit
0.1ms Default
0
Index
2223h
Activation
Disable axis
As shown below, when target velocity Vc square wave command reaches Vc, it becomes
trapezoidal wave after filtering.
Velocity
(RPM)
Position
command
before filtering
Position command
after filtering
Filter
switching
time
Time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms
As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S wave
after filtering.
