User Manual Of EL7-EC** AC Servo
81
Velocity
(RPM)
Position
command
before filter
Position command
after filter
Filter
switching
time
Time
Vc
Vc 0.632
Vc 0.368
Position command
smoothing filter set
time(ms)
Pr2.22 x 0.1ms
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate vibration.
If Pr2.22 is set too high, overall time will be lengthened.
Pr2.23
Label
Position command FIR
filter
Mode
PP
HM
CS
P
Range
0~10000
Unit
0.1ms Default
0
Index
2223h
Activation
Disable axis
As shown below, when target velocity Vc square wave command reaches Vc, it becomes
trapezoidal wave after filtering.
Velocity
(RPM)
Position
command
before filtering
Position command
after filtering
Filter
switching
time
Time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms
As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S
wave after filtering.
Velocity
(RPM)
Position
command
before filtering
Position command
after filtering
Time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms
Usually applied when there is rather sharp acceleration which might cause motor overshoot or