Omron R88D-GT series, User Manual

Page: 316 / 510

5-29
5-14 Position Command Filter
5
Ope
rati
ng Func
tions
5-14 Position Command Filter
Function
• Perform soft start processing for the command pulses using the selected filter to gently accelerate
and decelerate.
• Select the filter characteristics using the Position Command Filter Time Constant Setting (Pn4C).
• This function is effective in the following cases:
• There is no acceleration/deceleration function in the command pulse (controller).
• The command pulse frequency changes abruptly, causing the machinery to vibrate during
acceleration and deceleration.
• The electronic gear setting is high (G1/G2
≥
10)
Parameters Requiring Settings
Operation Example
• The characteristics for each filter are shown below.
• Servomotor acceleration and deceleration are delayed further than the characteristics shown
below due to position loop gain.
Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain

Primary Filter
Note The time constant will be as follows according to the setting of Pn4C.
Parameter
No.
Parameter name Explanation
Reference
page
Pn4C
Position
Command Filter
Time Constant
Setting This is a first-order lag filter for the command pulse input section. If the
command pulses change abruptly, this filter can be used to reduce the
stepping movement of the Servomotor.
The larger the setting, the larger the time constant (setting range: 0 to 7).
5-79
Pn4C Time constant (ms)
0 Disabled
1 0.2
2 0.6
3 1.3
4 2.6
5 5.3
6 10.6
7 21.2
Command pulse input
frequency
Input frequency
×
0.63
Input frequency
×
0.37
Speed
Time constant Time constant
Time