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9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-8
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9
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Set the two-stage force filter time constant.
•
When set to 0, this object is disabled.
When used for the secondary filter with the Two-stage Force Filter
Attenuation Term (3916 hex) set to greater than or equal to 50
The supported time constant is 5 to 159 (0.05 to 1.59 ms), which is equivalent to a frequency of
100 to 3,000 Hz.
The set values 1 to 4 correspond to the time constant 5 (3,000 Hz); the set values 159 to 2500
correspond to the time constant 159 (100 Hz).
Precautions for Correct Use
Precautions for Correct Use
Setting an excessively large value may cause an unstable control behavior, resulting in vibration.
Adjust the value while checking the operating conditions.
•
Set the two-stage force filter time attenuation term.
•
This setting is used to switch the filter order (primary or secondary) of the two-stage force filter.
Explanation of Settings
Precautions for Correct Use
Precautions for Correct Use
•
Setting an excessively large value may cause an unstable control behavior, resulting in
vibration. Adjust the value while checking the operating conditions.
•
Changing the set value during operation may result in vibration. Stop the Servo Drive before
changing the set value.
3915 hex
Two-stage Force Filter Time Constant
Setting
range
0 to 2,500
Unit
0.01 ms
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3916 hex
Two-stage Force Filter Attenuation Term
Setting
range
0 to 1,000
Unit
–
Default
setting
1,000
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
Set value
Description
0 to 49
The filter behaves as the primary filter.
50 to 1000
The filter behaves as the secondary filter. 1000 indicates a secondary filter of
ζ
= 1.0.
Setting a smaller value results in larger vibration. Normally, set this object to 1000.
A l l
A l l
