6.6 Position Control
6.6.4 Smoothing Settings
6-32
Setting the Reference Pulse Input Multiplier (Pn218)
A timing chart for switching the reference pulse input multiplier is provided below.
Restrictions
The reference pulse input multiplier will not change during the following operations regardless
of the status of the /PSEL signal.
• Program jogging
• Autotuning without a reference input
6.6.4
Smoothing Settings
Smoothing allows you to apply a filter to the position reference to produce smoother Servomo-
tor operation. Smoothing is effective in the following cases.
• When the host controller that outputs the references cannot perform acceleration or deceler-
ation
• When the reference pulse frequency is very low
Note: Smoothing does not affect the travel distance (i.e., the number of reference pulses).
The following parameters are related to smoothing.
Change the settings while there is no reference pulse input and the Servomotor is stopped.
Always use the /PSELA signal to confirm that the reference pulse input multiplier has been
switched and make sure that there are no position reference pulses before you input a posi-
tion reference.
Unexpected operation may occur if position reference pulses are input before the reference
pulse input multiplier changes.
Pn218
Reference Pulse Input Multiplier
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 100 ×1 1 Immediately Setup
If you change the reference pulse input multiplier (Pn218), perform trial operation of the Ser-
vomotor without the machine coupled to the motor shaft to confirm that no problems will
occur in operation before you couple the motor to the machine.
1
n
(n = Pn218)
1
Internal status
/PSELA (Reference Pulse
Input Multiplication
Switching Output) Switch
/PSEL (Reference Pulse
Input Multiplication Switch)
Signal
Enabled
Disabled
Enabled
Disabled
4 ms max. 4 ms max.
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