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Tuning
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ASDA-A3
5
5.7.6 Position command filter
5.7.6.1 Function restriction
Set the control mode (P1.001.YX) to Position mode (PT or PR).
5.7.6.2 Function description
If the position command changes too drastically, the speed command or current command may
become saturated, causing the machine unable to operate according to the expected response.
If the resolution of a pulse command is low, it may cause unexpected machine vibration.
Adjusting the position command filter can improve the previous two conditions. It is advisable to
use the position command filter with P1.008 and P1.068.
Position command - smoothing constant (low-pass filter) (P1.008)
After the position command is processed with the first-order low-pass filter, the unwanted
high-frequency response or noise is attenuated, and the command becomes smoother.
Position
Target
position*0.998
Position command
before filtering
Position command
after filtering
Target
position*0.002
Time
Time constant set in P1.008
Position command - moving filter (P1.068)
This function distributes the position commands evenly within the set time. When the resolution
of the position command is low, using the filter function of P1.068 is recommended. If you use
P1.008, it will cause drastic speed changes.
Position
Position command
before filtering
Position command
after filtering
5-64
Time constant set in P1.068
Time
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