4-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Note
Related page
• A parameter is designated as follows:
Pr0.00 Parameter No.
Class
• For parameters which No. have a suffix of “
*
”
, changed contents will be validated
when you turn on the control power.
• P.3-32... “Inputs and outputs on connector X4”
Default: [ ]
Pr2.22
Command smoothing filter
Range
Unit
Default
Related
control mode
0 to 10000
0.1 ms
A,B,
C-
frame:
92
D
to
F-
frame:
139
P
F
Related page
[Position control mode]
• With previous control (Pr6.47 bit0 = 0)
Set the time constant of the 1st delay filter in response to the positional command.
• In the two-degree-of-freedom control mode (Pr6.47 bit0 = 1)
Time constant of the command response filter
The maximum value is limited by 2000 (= 200.0 ms).
*
[Speed control mode]
• With previous control (Pr6.47 bit0 = 0)
This setting is ignored.
• In the two-degree-of-freedom control mode (Pr6.47 bit0 = 1)
Time constant of the command response filter
The maximum value is limited by 640 (= 64.0 ms).
*
For Two-degree-of-freedom control mode, refer to Pr6.47 (P.4-78).
[Full-closed control mode]
• Always set the time constant of the 1st delay filter in response to the positional command.
*
The value of the parameter is not limited but the value to be applied to driver is limited. Set
attenuation term in Pr6.49 [Set attenuation term of command filter/adjustment filter].
• When a square wave command for the target speed Vc is applied, set up the time constant
of the 1st delay filter as shown in the figure below.
Speed
[r/min]
Vc
Vc×0.632
*
1
Vc×0.368
*
1
Positional command smoothing
filter setup time [ms]
(Pr2.22 × 0.1 ms)
Time
Positional command before filter
Positional command after filter
Filter switching
waiting time
*
2
*
1 Actual filter time constant (setup value × 0.1 ms) has the maximum absolute error of 0.4 ms for a time
constant below 100 ms and the maximum relative error of 0.2 % for a time constant 20 ms or more.
*
2 Switching of Pr2.22 Positional command smoothing filter is performed on the rising edge of the command
with the number of command pulses/0.125 ms is changed from 0 to a value other than 0 while the
positioning complete is being output.
If the filter time constant is decreased and positioning complete range is increased, and a many number
of plusses are accumulated in the filter (the area equivalent of “value of positional command filter - value
of positional command after filter” integrated over the time), at the time of switching, these pulses are
discharged at a higher rate, causing the motor to return to the previous position - the motor runs at a
speed higher than the command speed for a short time.
*
3 Even if Pr2.22 Positional command smoothing filter is changed, it is not applied immediately. If the
switching as described in
*
2 occurs during this delay time, the change of Pr2.22 will be suspended.
1. Details of parameter
[Class 2] Damping control
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