Panasonic MINAS A6 Series - Page 230

4-28
Note
Related page
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•ForparameterswhichNo.haveasuffixof“
*
”,changedcontentswillbevalidatedwhen
youturnonthecontrolpower.
•P.3-32...“InputsandoutputsonconnectorX4”
Default: [ ]
Pr2.23
Command FIR filter
Range Unit Default
Related
control mode
0 to 10000 0.1 ms 10 P F
Related page
[Position control mode / Full-closed control mode]
•SetupthetimeconstantofFIRlterinresponsetothecommand.
[Speed control mode]
•Withpreviouscontrol(Pr6.47bit0=0)
This setting is ignored.
•Inthetwo-degree-of-freedomcontrolmode(Pr6.47bit0=1)
 Timeconstantofthecommandresponselter
 Themaximumvalueislimitedby640(=64.0ms).
*
ForTwo-degree-of-freedomcontrolmode,refertoPr6.47(P.4-78).
•WhenasquarewavecommandforthetargetspeedVcisapplied,setupthetimeconstant
ofthe1stdelaylterasshowninthegurebelow.
Speed
[r/min]
Vc
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)
*1
Time
Filter switching
waiting time
*2
Positional command before filter
Positional command after filter
*
1 Theactualaveragetraveltime(setupvalue×0.1ms)hasthemaximumabsoluteerrorof0.2msfora
timeconstantbelow10msandthemaximumrelativeerrorof1.6%foratimeconstant10msormore.
*
2 WhenchangingPr2.23CommandFIRlter,stopthecommandpulseandwaituntilthelterswitching
waittimehaselapsed.Thelterswitchingwaittimeisthesetupvalue×0.1ms+0.25mswhenthe
setuptimeis10ms,andsetupvalue×0.1ms×1.05whenthesetuptimeis10msormore.IfPr2.23is
changedwhilethecommandpulseisbeinginput,thechangeisnotreecteduntilthecommandpulse-
lessstatehascontinuedforthelterswitchingwaittime.
*
3 EvenifPr2.23CommandFIRlterischanged,itisnotappliedimmediately.Iftheswitchingasdescribed
in*2occursduringthisdelaytime,thechangeofPr2.23willbesuspended.
1. Details of parameter
[Class 2] Damping control
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