Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-60
Default: [ ]
Rev.2.00
Pr2.23 Command FIR filter
Range Unit Attribute Default
Related
control code
0 to 10000 0.1 ms B 10
P
• Set up the time constant of FIR filter in response to the command.
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
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)
* 1
Time
Filter switching
waiting time
* 2
Positional command before filter
Positional command after filter
*
1 The actual average travel time (setup value × 0.1 ms) has the maximum absolute error of 0.2 ms for a
time constant below 10 ms and the maximum relative error of 1.6 % for a time constant 10 ms or more.
*
2 When changing Pr2.23 Command FIR filter, stop the command pulse and wait until the filter switching
wait time has elapsed. The filter switching wait time is the setup value × 0.1 ms + 0.25 ms when the
setup time is 10 ms, and setup value × 0.1 ms × 1.05 when the setup time is 10 ms or more. If Pr2.23 is
changed while the command pulse is being input, the change is not reflected until the command pulse-
less state has continued for the filter switching wait time.
*
3 Even if Pr2.23 Command FIR filter is changed, it is not applied immediately. If the switching as
described in *2 occurs during this delay time, the change of Pr2.23 will be suspended.
Pr2.24 5th notch frequency
Range Unit
Attribute
Default
Related
control code
50 to 5000 Hz B 5000
P S T
Caution
Set the center frequency of the 5th notch filter.
The notch filter function will be invalidated by setting up this parameter to "5000".
Pr2.25 5th notch width selection
Range Unit Attribute Default
Related
control code
0 to 20 — B 2 P S T
Caution
Set the width of notch at the center frequency of the 5th notch filter.
Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation.
Pr2.26 5th notch depth selection
Range Unit Attribute Default
Related
control code
0 to 99 — B 0 P S T
Caution
Set the depth of notch at the center frequency of the 5th notch filter.
Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.
Pr2.27 1st vibration control width setting
Range Unit
Attribute
Default
Related
control code
0 to 1000 — B 0 P
To conduct fine tuning of 1st vibration suppression control function.
4. Details of Parameter
[Class 2] Damping Control