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6.2 Control Gain and Filter Setting Parameters (P1.51~99)
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The parameters with “*”indicate that they are enabled only when power on again after parameter setting.
P1.51
Moving average S-curve time
Default value
***
Setting range
0
、
2~500 (× 0.125 [ms])
P1.52
Low-pass filter (for S-curve) time constant
Default value
0.0
Setting range
0.0~1000.0 [ms]
P1.53
Command pulse smoothing function
Default value
0
Setting range
0: Disable
1: Enable
Filters can be added to commands for smoother follow-up.
Moving average
S-curve time
This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
reduce the torque ripple caused by fluctuation of the command pulse.
The new setting of this parameter is reflected when both the position command and filter
accumulation pulse are "0".
If P1.13 (tuning mode selection) is 10 (auto tuning), 11 (semi-auto tuning) or 15(shorter
cycle time operation mode) automatic adjustment is made inside the servo motor drive.
Low-pass filter (for
S-curve) time
constant
Enter the low-pass filter (for S-curve) filter time constant in relation to position commands
and speed commands.
Acceleration and deceleration are made so that an approximate S-curve is drawn.
Command pulse
smoothing function
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 ms
intervals.
A larger setting at low command pulse frequencies or large electronic gear ratios can
reduce the torque ripple caused by fluctuation of the command pulse.
While the setting can be changed at any time, the new setting is reflected when both the
position command and filter accumulation pulse are "0".
Function configuration block
P1.54
Position command response time constant
Default value
***
Setting range
0.00~250.00 [ms]
Specify the following response characteristics to commands. A smaller setting improves the response
characteristics.
Automatic adjustment is made inside the amplifier if P1.13 (tuning mode selection) is 10 (auto-tuning), 11
(semi-auto tuning) or 15(shorter cycle time operation mode).
Command pulse
smoothing function
Moving average
S-curve time
Low-pass filter (for
s-curve) time constant
Command
Control section
