98
Parameter Setting
Input position command
t
f
Position command after
processing of the
smoothing filter
t
f
Time
Command
Position command after processing of FIR filter
t
f
= (Pr4E+1) x control cycle
A smoothing filter is the primary delay filter inserted after command dividing
multiply part of the command pulse input part.
• With Pr4C, you can set a time constant of the smoothing filter in 8 steps:
• The parameter selects a time constant of FIR filter to be subjected to command
pulse.
• When setting is higher, a command will be smoother.
• Note that any change to this parameter will only be enabled after you reset the
power supply.
The control cycle is 166 µs for Pr02=0 (high velocity response positioning control)
and 333 µs for Pr02=2 (high function positioning control).
PrNo. Parameter Name Function/Content
4C
4E
Smoothing filter
set-up
FIR filter set-up
0 - 7
0 - 31
[0]
Purpose of smoothing filter
• Its primary purpose is to reduce stepping motion of the motor when a
command pulse is rough.
• To give actual examples of rough command pulse:
(1) When you set a high multiplier ratio (i.e., 10 times or more) in command
dividing multiplier
(2) When the command pulse frequency is low
Standard Default Setup: [ ]
Parameters for Internal Velocity Control
Standard Default Setup: [ ]
PrNo. Parameter Name Function/Content
The parameter directly sets in [r/min] JOG speed during JOG operation in “motor
test run mode”.
For details of JOG function, refer to “Test Run (JOG)” on Page 60 of Preparations
edition.
57 JOG internal speed
set-up
0 -
500
[300]
Range of
Settings
Range of
Settings
Settings
0
[1]
7
Time Constant
No filtering function
Low time constant
High time constant
~
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