44 • _ENCD – Encoder Subject area Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
336-ECTF - Jitter filter time constant
Source: Encoder Time Filter
Function: Actual speed filter
ECTF on MC6000:
Depending on the sampling rate of the encoder ECTS, the following filter time constants are produced:
Entered values are approximated to discrete values where necessary.
ECTF on MC7000
Actual speed filter (dependent on sampling rate of encoder ECTS)
Values:
Minimum Maximum Factory set. Unit MODE SMARTCARD Type
0 0.032 0.0006 s R1W3 DRIVE FLOAT32
Note:
The setting is described in detail in the MC7000 Basic/Motion Operation Manual.
T im e c o ns t a n t [ m s ]
(ECTS = 2 kHz)
Time constant [ms]
(ECTS = 4 kHz)
0.00 ms 0.00 ms
0.72 ms 0.36 ms
1.74 ms 0.87 ms
3.74 ms 1.87 ms
7.73 ms 3.87 ms
15.72 ms 7.86 ms
31.70 ms 15.85 ms
– 31.82 ms
Note:
The parameter value balanced to the motor is transferred to the S
MARTCARD. In the
case of high moments of inertia it may be necessary to increase the filter time con-
stant. However, ECTF should only ever be changed by one stage, as an incorrect
setting may make the control unstable! This may be noticeable at a standstill by hum-
ming of the drive. Any greater need for adjustment should be agreed with LUST.
Note:
The parameter value balanced to the motor is transferred to the S
MARTCARD. In the
case of high moments of inertia it may be necessary to increase the filter time con-
stant. However, ECTF should only ever be changed slightly (in 0.1 ms increments),
as an incorrect setting may make the control unstable! This may be noticeable at a
standstill by humming of the drive. Any greater need for adjustment should be agreed
with LUST.
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