Yaskawa MotionWorks IEC Hardware - Manual (Page 39)

MotionWorks IEC Hardware Configuration – 2013-03-26 36
using MC_WriteBoolParameter and parameter number 1300. The filter
time constant (parameter 1301) can also be specified in the same tab. The
filter is implemented as a lag filter as shown below.
The moving average filter limits are [0,5). (0 excluded).
If the Moving Average filter time constant is set to 0.1 seconds and the
MECHATROLINK/DPRAM update rate is set to 2 ms, the moving average will
provide a filter of 50 data points (50 data points in 100 ms). An example of
a move profile with the Moving Average Filter applied is shown below. The
logic analyzer plot below shows the effect of a 0.1 s moving average filter
set up. The logic analyzer is synchronized with a 2 ms application task. It
can be seen that the filtered profile (in red) settles to steady state 50 scans
after the commanded profile (in blue). Since each scan is 2 ms in time, 50
scans show 100ms in time. Thus it can be seen that a 0.1s moving average
filter set up generates an s curve velocity profile where the filtered velocity
will lag the commanded trapezoidal profile by 0.1 seconds.