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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10
Modes of Operation
Analog speed command filter smooth the analog input command. Its time
program is the same as S-curve filter at normal speed. Also, the speed curve and
the acceleration curve are both continuous. The above is the curve of speed
command and motor torque when analog speed command filter is applied. In the
diagram above, the slopes of speed command in acceleration and deceleration are
different. You can adjust the time setting by using parameters ID141 (P1.034),
ID142 (P1.035), and ID143 (P1.036), according to the actual application to
improve the performance.
Low Pass Filter for Speed Command
Parameter ID122 (P1.006) filters out unwanted high-frequency response or
noise so that the speed becomes smoother.
ID122 (P1.006) is a low-pass filter, while ID164 (P1.059) is a moving filter.
Their difference is that ID164 (P1.059) smooths at the beginning and end of the
step command, while ID122 (P1.006) can smooth only at the end of the step
command.
If the speed loop receives command from the controller to form the position
control loop, then use ID122 (P1.006). If it is only for the speed control, then
ID164 (P1.059) provides better smoothing.
Table 77 - Relevant Parameters
Parameter Name
ID122 (P1.006) SpeedCmdLowPassFilterTime
ID164 (P1.059) SpeedCmdMovingFilterTime