Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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3 PARAMETERS FOR POSITIONING CONTROL
3.11 Vibration Suppression Command Filter Data
Vibration suppression command filter 1
Mode selection device
Set the device that assigns vibration suppression command filter 1 as the filter method.
With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal
after filter: ON).
With the filter disabled, a sudden operation may occur if vibration suppression command filter is enabled during positioning
operation. Check command speed and travel distance, and ensure safety before using the vibration suppression command
filter.
The following values are set to the mode selection device.
When the mode selection device is a value outside of range, a warning (error code: 0A3AH) occurs, and the mode setting is
not reflected even if changed.
Frequency
Set the frequency for suppressing vibration of the vibration suppression command filter 1.
The valid frequency range is shown below according to operation cycle and filter method set by the mode selection device.
The vibration suppression command filter is invalid when operation cycle is set to 7.111[ms].
When the frequency is a value outside of range, a warning (error code: 0A3BH) occurs, and the value is changed to the lower
limit value if the input value is lower than the range, and changed to the upper limit value if the input value is higher than the
range.
Depth
Set the attenuation depth of the frequency that suppressing the vibration of vibration suppression command filter 1.
Setting a deeper value increases the effect of vibration suppression.
This setting is invalid for smoothing filter. (Depth is fixed at -40dB.)
For the FIR filter setting, when the depth is a value outside of range, a warning (error code: 0A3CH) occurs, and the value is
changed to the lower limit value if the input value is lower than the range, and changed to the upper limit value if the input
value is higher than the range.
Setting value Filter method
0 Disabled
1 Smoothing filter
2 FIR filter
Operation cycle[ms] Valid range[Hz]
Smoothing filter FIR filter
0.222 0.20 to 250.00 0.20 to 250.00
0.444 0.20 to 250.00 0.20 to 250.00
0.888 0.20 to 250.00 0.20 to 250.00
1.777 0.20 to 140.00 0.20 to 140.00
3.555 0.20 to 70.00 0.20 to 70.00