Omron R88M-K - Page 429

9-25
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-3 Vibration Suppression Settings
9
• The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
• This constant is used to reduce the stepping movement of the motor and achieve a smooth operation
when the electronic gear ratio is set in 10 times or greater.
• It sets the first-order lag filter time constant, as shown below, for the square-wave command of target
speed Vc.
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and 0.2% max.
(relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per 0.250 ms
changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new value is
applied in internal calculations. If the filter switch wait time expires during this delay, the change may be placed on hold.
3222 hex
Position Command Filter Time Constant
Setting range 0 to 10000 Unit 0.1 ms
Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
pp
hm
t
f
= (3222 hex
*3
× 0.1 ms)
Input position command
t
f
Position command a
f
ter
the smoothing filter process
t
f
Filter switching
d
w
e
ll tim
e
*2
Time
Speed
Target speed Vc
Vc × 0.632
*1
Vc × 0.368
*1