YASKAWA SGDH, User Manual

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8.6 Operating Using Position Control
8-57
8
8.6.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
(2) Filter-related Parameters
Parameter Description
Pn207
n. ††† 0
Acceleration/deceleration filter
n.
†††
1
Average movement filter
Pn204 Position Reference Acceleration/Deceleration Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 6400 0.01 ms 0 Immediately
Pn208
Average Movement Time of Position Reference
Setting Range Setting Unit Factory Setting Setting Validation
0 to 6400 0.01 ms 0 Immediately
„ IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse
input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse
from the host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.
This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e.,
the number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10
×
or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Pn207=n. ††† 0 Pn207=n. ††† 1
Position
Position
100%
63.2%
36.8%
Pn204 Pn204
Before filter applied
After filter applied
Response waveform for stepwise input
t
100%
Pn208
Pn208
Before filter applied
After filter applied
Response waveform for stepwise input
t
Pn208
Before filter applied
After filter applied
Response waveform for ramp reference input
t
Pn208