9-59
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
9
• Set the threshold for detecting the origin as an absolute value.
• Set the time constant of FIR filter for the position command.
• The Position command FIR filter can be selected to enable or disable, by the position command filer
switch input via EtherCAT communications.
• Enable and disable the position command FIR filter in the Motion profile type (6086 hex).
It can be set only when the Communications synchronization is 1 ms or more.
• It sets the time to arrive at the target speed Vc, as shown below, for the square-wave command of Vc.
*1 Change the setting on 3818 hex only after you stop the command pulse and the filter switching dwell time
elapses. The dwell time is calculated by the following formulas depending on the value set on 3818 hex.
If 3818 hex set value ≤ 10 ms, the set value × 0.1 ms + 0.25 ms.
If 3818 hex set value > 10 ms, the set value × 0.1 ms × 1.05.
Precautions for Correct UsePrecautions for Correct Use
• If the set value on 3818 hex is changed during the position command is entered, the change is
not reflected immediately. It is updated only after the subsequent state of no position
command persists for the filter switching dwell time.
• There is some time lag from when the 3818 hex is change and to when the change is applied.
If the filter switching dwell time elapses during the lag, the change may be suspended.
3803 hex
Origin Range
Setting range 0 to 250 Unit
Command unit
Default setting 10 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
3818 hex
Position Command FIR 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.
All
csp
pp
hm
Speed [r/min]
Vc
Pre-
ilter
position command
Post-
ilter
position command
Position Command FIR Filter
Time Constant [ms]
1
hex ×
.1 ms
Filter switching
dwell time
*1
To Next Page
Loading...
