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8-24
8-3 Vibration Suppression Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Œ
The position command filter time constant is the first-order lag filter inserted after the electronic
gear ratio for the command pulse input.
Œ
The position command filter time constant can be used for the following:
• If the command pulses change abruptly, the filter can be used to reduce the stepping
movement of the motor.
• The following are examples of when the command pulses can change abruptly:
The electronic gear ratio setting is high (10 times or higher).
The command pulse frequency is low.
Œ
Set the FIR filter time constant used for command pulse input. (FIR: Finite impulse response)
Œ
The higher the set value, the smoother the command pulses.
Pn222
Position Command Filter Time Constant
Setting
range
0 to 10,000 Unit 0.1 ms
Default
setting
0
Power OFF
and ON
−
Position Full closing
t
f
=
(Pn222
×
0.1 ms)
*1 The actual process is subject to calculation error.
*2 If accumulated pulses remain within the filter after the filter set value has
been changed, etc., the motor may operate at a speed higher than the
command speed immediately after switching the filter.
Input position command
t
f
Position command after
the smoothing filter process
t
f
Filter switching
dwell time
*2
Time
Speed
Target speed Vc
Vc
×
0.632
*1
Vc
×
0.368
*1
Pn223
Smoothing Filter Time Constant
Setting
range
0 to 10,000 Unit 0.1 ms
Default
setting
0
Power OFF
and ON
−
Position Full closing
Input position command Position command after the FIR filter process
t
f
t
f
t
f
=
(Pn223
×
0.1 ms)
Speed