174 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 7 Configure the Drive with KNX5100C Software
Configure Filter
There are different filters available to use with the Kinetix 5100. There is a Low
Pass Filter and Moving Average Filter which are both used to remove
unwanted resonance from the drive (these filter types are available for use in
different drive modes). See F
ilter on page 256 for more information.
Use the Filter dialog box to configure the Kinetix 5100 Low Pass and Moving
Average Filters.
To access Filter, perform the following steps.
1. From the Function List, choose Start > Kinetix 5100 > Setting > Filter.
2. In the Filter dialog box, you can configure the following:
• The Low Pass Filter smoothing time constant parameters for Position
Command ID124 (P1.008), Speed Command ID122 (P1.006) and
ID123 (P1.007). This filter is a first order low pass filter. This filter is a
smoothing filter that creates a gradually increasing output when an
input step is applied. The time constant determines how fast the Low
Pass Filter output reaches the level of input applied. This filter uses the
Position Command Smoothing Constant ID124(P1.008) to determine
the cutoff frequency. The cutoff frequency is 1/(2*PI*P1.008). The
units for ID124(P1.008) are in 10 ms, which means if 100 is entered into
ID124(P1.008), the actual value that is used by the formula is 1000 ms.
The same cutoff frequency formula is used for the Speed and Torque
Command Smoothing Constant (ID122(P1.006) and ID123(P1.007))
except the units are ms and not 10 ms.
• The Moving Average Filter time constant parameters for Position
Command ID170 (P1.068), and Speed Command ID164 (P1.059).
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