Rockwell Automation Allen-Bradley Kinetix 5100 - Page 258

258 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 10 Modes of Operation
Analog Speed Command Filter
Analog speed command filter provided by the drive helps to smooth motion to
the motor when the analog input signal (speed) changes rapidly.
The above diagram is the curve of speed command and motor torque when
analog speed command filter is applied. In the diagram above, the slopes of
speed command in acceleration and deceleration are different. You can adjust
the time setting by using parameters SCurveAccelTime ID141 (P1.034),
SCurveDecelTime ID142 (P1.035), and SCurveSmoothTime ID143 (P1.036) as
required for your cycle profile.
Low Pass Filter (Speed Mode)
Parameter ID122 (P1.006) filters out unwanted high-frequency resonances or
noise so that the speed becomes smoother.
VelocityCmdLowPassFilterTime ID122 (P1.006) is a low-pass filter, while
VelocityCmdMovingFilterTime ID164 (P1.059) is a moving filter. The Moving
filter applies smoothing at the beginning and end of the Acceleration cycle, the
Low Pass applies smoothing at the end of the cycle.
If the Operation Mode contains a position loop, use the
VelocityCmdLowPassFilterTIme ID122 (P1.006). If the Operation mode is
Speed Control (or Sz), then use VelocityCmdMovingFilterTime ID164 (P1.059).
Table 94 - Relevant Parameters
Parameter Name
ID122 (P1.006) VelocityCmdLowPassFilterTime
ID164 (P1.059) VelocityCmdMovingFilterTime
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