User`s manual

5-25

Functions

5. Functions

5.7 Smoothing function

(1) Position command filter

The command pulse rate may cause vibrations when used in combination with a

low-rigidity machine. To prevent this vibration, a filter is added to the position

command so that commands can be changed smoothly.

The filter time constant can be set by parameter (Fd-36). Setting the parameter to 0

disables this function.

Parameter Function name Description

Default

setting

Fd-36

Position command

filter time constant

Inserting a filter makes the

position command run smoothly.

0 to 60000ms, 0 = Invalid

This function is only valid during position control. The control block is shown below.

Position

command

Position

control

Speed

command

Current position

1+Tds

Inserting a filter makes the position command run smoothly as shown in the figure

below and vibration can be prevented.

Before filter

insertion

After filter

insertion

Note 1: In position control mode, always set Fd-36 to 0 during unlimited feed in

one way direction, or during synchronous operation of units such as the

conveyor in one way direction. Unless Fd-36 is set to 0, a position

deviation error (E83) will occur.