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6.1 Filter Setting
118
6 Functions
6.1
Filter Setting
The factory setting for a filter can be normally used without changing. Change the setting if there are
problems such as overshoot.
There are two ways to set a filter.
Use the SW2 bit 4 to select the setting method.
When setting the filter using the FIL rotary switch.
* 1. The factory setting is 0. If the machine vibrates, this value must be changed.
* 2. If the machine vibrates when starting or stopping the machine, set a larger value.
* 3. The value depends on conditions such as the level of reference acceleration and
deceleration, the machine rigidity and the motor resolution.
* 4. Select the correct servomotor capacity with these values if using a step reference that
has no acceleration or deceleration time.
When setting reference filter using Pn00A.
Write a value in parameter Pn00A (Filter Setting) by using the PRM_WR or PPRM_WR command.
SW2 Bit4
Description
OFF
Uses the FIL rotary switch to set a filter (factory setting).
(The setting of Pn00A is invalid.)
ON
Uses Pn00A.
(The setting of the FIL rotary switch is invalid.)
4
3
2
1
0
F E D C B A
9
8
7
6
5
Description
Approx. Time between
Completing Reference and
Completing Positioning
(Settling Time)*
3
Acceleration/
Deceleration
Time for Step
Reference
*4
Filter
Setting
Value*
2
Do not set 8 to F.
Small filter time
constant (short
positioning time)
Large filter time
constant
(little vibration
with a long
positioning time)
0*
1
1
2
3
4
5
6
7
8 to F
45 ms
50 ms
60 ms
65 ms
70 ms
80 ms
85 ms
170 ms
100 to 200 ms
110 to 220 ms
130 to 260 ms
150 to 300 ms
170 to 340 ms
200 to 400 ms
250 to 500 ms
500 to 1000 ms
FIL
TOEP_C710806_03A_1_0.book Seite 118 Montag, 2. Juli 2007 3:55 15