3-59
Default: [ ]
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When In T
roubie
7
Supplement
4. Details of Parameter
[Class 2] Damping Control
Pr2.22
Command smoothing filter
Range
Unit
Attribute
Default
Related
control code
0 to 10000
0.1 ms
B
A to C-frame: 92
D to F-frame: 139 P S
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.3-98).
*
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.
Note
Related page
・
A parameter is designated as follows:
Pr0.00
No.
Class
・
For “ Attribute ”,refer to P.3-38 “ Details of Attribute ”.
・
P.2-47
〜
“ Wiring of connector, X4 ”
・
P.6-3 “ Protective Function ”
Summary of Contents for MINAS A6N Series
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