Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
69
WECON technology Co., Ltd
effect on the number of instruction pulses. The filter time is not as long as possible. If the filter
time is longer, the delay time will be longer too, and the response time will be correspondingly
longer. It is an illustration of several kinds of position filtering.
Figure 6-25 Position instruction filtering schematic
Function
code
Name
Setting
method
Effective
time
Defaults
Range
Definition
Unit
P04-01
Pulse
instruction
filtering
method
Shutdown
setting
Effective
immediately
0
0~1
0: 1st-order low-pass
filter
1: Average filtering
-
P04-02
Position
instruction
1st-order
low-pass filter
time constant
Shutdown
setting
Effective
immediately
0
0~1000
The filter time constant
of position instruction
1st-order low-pass
filter
ms
P04-03
Position
instruction
average filter
time constant
Shutdown
setting
Effective
immediately
0
0~128
The filter time constant
of position instruction
average filter
ms
Table 6-22 Position instruction filter function code
6.2.4 Clearance of position deviation
Position deviation clearance means that the drive can clear the deviation register to zero in the
position mode. The user can realize the function of clearing the position deviation through the DI
terminal;
Position deviation = (position instruction-position feedback) (encoder unit)
6.2.5 Position-related DO output function
The feedback value of the position instruction is compared with different thresholds, and can
output DO signal for host computer use.
(1) Positioning completion/positioning approach output
The internal instruction completion function means that when the multi-position instruction inside
the servo is zero, the instruction transmission can be considered as the completion of the
instruction transmission. At this time, the servo drive can output the internal instruction
