Siemens SINAMICS S200 - Smoothing Function

9.5.5 Smoothing function
Overview
Smoot
hing function is used to 󹪝lter the position commands to make the servo motor rotate more
smoothly. With the smoothing function, the position characteristics curve from the pulse train
input setpoint can be transformed into an S-curve pro󹪝le with a time constant.
Description of function
The converter supports three 󹪝lters (two moving averaging 󹪝lters and one low pass 󹪝lter PT1) to
ful󹪝ll di󹪜erent smoothing purposes. The moving averaging 󹪝lters are usually used to smooth the
high step position commands and the acceleration or deceleration limit, while the PT1 󹪝lter is
used to smooth the high frequency noise.
Smoothing should be considered in the following situations:
• Low pulse frequency and high electronic gear ratio
• No acceleration/deceleration processing in the high-level controller
• High frequency noise
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Figure9-1 Smoothing with moving average 󹪝lt
er
F
unctions
9.5Fast position control with pulse train input (Fast PTI)
SINAMICS S200 pulse train servo drive system with SIMOTICS S-1FL2
250 Operating Instructions, 11/2023, FW V6.3, A5E51646767B AA