Moons' MBDV Series - Command Smoothing Filter Setting

74
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7.2.2 Command smoothing lter setting
When the position command or speed command of the servo system changes signicantly, it is
easy to cause the whole system to vibrate, and the system noise will also increase. Command lter
smooths the transition in position or speed caused by motion commands. This can reduce jitter and
vibrations in the mechanical system.
Related parameters
Parameter Instruction Name Value range Defaults Unit Description
P2-05 JT jerk time 0 ~ 125 10 ms
Time constant for smoothing ltering in
internal trajectory mode
P2-28 KJ
low pass
smoothing lter
0 ~ 10000 10 ms
Set the time constant of the low-pass lter of
the position command or speed command
Note: When set to 0, the ltering function is invalid
7.2.2.1 Jerk time
Parameter P2-05 can be used in various drive control modes (position, speed, torque) and when
streaming commands to the drive from an external controller. The e󰀨ect of jerk smoothing on the
input command is shown in the gure below.
Target Speed Curves
T T T
T=P2-05
Time
Speed
Filtered speed Curves
◆
Jerk time lter will produce a certain delay T for the command,
but it will not a󰀨ect the nal positioning accuracy.
◆
The larger the P2-05 time constant, the more obvious the
smoothing e󰀨ect will be, and the delay of instruction response will
increase, so users should set an appropriate lter time constant
according to the application.
7.2.2.2 Low pass smoothing lter
Parameter P2-28 can be used in various drive control modes (position, speed, torque) and when
streaming commands to the drive from an external controller. The smoothing e󰀨ect of the low-pass
lter on the input command is shown in the gure below.
Motor Speed
Target Speed Instruction
Filtered Speed
V
C
V
C
×0.632
V
C
×0.368
P2-28 P2-28 Time
◆
Low-pass smoothing lter will produce a certain delay T for
the motion command, but it will not a󰀨ect the nal positioning ac
curacy.
◆
The larger the time constant of P2-28, the more obvious the
smoothing e󰀨ect will be, and the delay of instruction response
will be increased. Users should set an appropriate lter time
constant according to the application.