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Tuning

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ASDA-A3

5

5.7.7 Speed command filter

5.7.7.1 Function restriction

Set the control mode (P1.001.YX) to Speed mode (S or Sz).

5.7.7.2 Function description

After the speed command is processed with the first-order low-pass filter, the unwanted

high-frequency response or noise is attenuated, and the command becomes smoother.

Speed

Speed command

before filtering

Speed command

after filtering

Target

speed*0.998

Time constant

set in P1.006

Time

5.7.7.3 Application example

When the position control circuit of the machine is built in the controller, the servo is in analog

Speed mode (S) and receives the external analog voltage speed command issued by the

controller. To reduce the analog voltage noise, which can be detected by setting the channel to

Speed command: Voltage [Volt] in the Scope function of ASDA-Soft, increase the setting

value of P1.006. However, if the filter time is set too long, the position control response of the

controller becomes slower. If desiring to keep the position control response stable, set the filter

bandwidth 8 times (or more) the position bandwidth of the controller.

Relevant parameter

Refer to Chapter 8 for detailed descriptions of the relevant parameter.

Parameter

P1.006

Function

Speed command - smoothing constant (low-pass filter)

5-66

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