YASKAWA MP2100 Series User Manual

8.13 Change Filter Type (CHG_FILTER)
8-55
8
8.13 Change Filter Type (CHG_FILTER)
The CHG_FILTER command enables the current setting of the Filter Type (motion setting parameter OW

03)
for execution of the following motion commands: POSING, EX_POSING, ZRET, INTERPOLATE, LATCH,
FEED, and STEP. Always execute CHG_FILTER command after changing the setting of OW

03.
(1) Operating Procedure
(2) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
(3) Related Parameters
(a) Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL

02 and IL

04 are 0.
2 The Servo ON condition. IB

001 is ON.
3 Pulse distribution has been completed for the
SERVOPACK.
IB

0C0 is ON.
4 Motion command execution has been completed. IW

08 is 0 and IB

090 is OFF.
Execute the
CHG_FILTER
motion
command.
• Set OW

08 to 13.
• Select one of the following filters:
1. No filter
2. Exponential acceleration/deceleration
3. S-curve acceleration/deceleration (Moving average filter)
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
The Acceleration/Deceleration Filter Type is
enabled.
• IW

08 will be 13 during command
execution.
• IB

090 will be ON during command
execution.
Command completed.
• IW

08 will be 13 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
Parameter Name Setting
OW

03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08 Motion Command The filter type is changed when this parameter is set to 13.
OB

090 Command Pause This parameter is ignored for CHG_FILTER command.
OB

091 Command Abort This parameter is ignored for CHG_FILTER command.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English