5 Operation
5.4.4 Smoothing
5-42
5.4.4 Smoothing
Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow-
ing cases.
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
Note: This function does not affect the travel distance (i.e., the number of pulses).
(1) Related Parameters
Set the following filter-related parameters.
Change the setting while there is no reference pulse input and the servomotor stops.
∗ When set to 0, a filter becomes ineffective.
<Note>
The difference between the position reference acceleration/deceleration time constant (Pn216) and the position reference
movement averaging time (Pn217) is shown below.
Pn216
Position Reference Acceleration/Deceleration Time
Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.1 ms
0
*
Immediately after the
servomotor stops
Setup
Pn217
Average Movement Time of Position Reference
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 0.1 ms
0
*
Immediately after the
servomotor stops
Setup
While the motor is rotating, changes in Pn216 or Pn217 will not be reflected. The
changes will be effective after the motor comes to a stop with no reference pulse input.
Acceleration/Deceleration Filter Average Movement Time Filter
Position
Position
To Next Page
Loading...
