Yaskawa MotionWorks IEC - Manual (Page 389)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 381
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, which is
the actual velocity profile in this case) settles to steady state 50 scans
after the commanded profile. 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.
Commanded velocity in blue (Parameter 1011). Post S - curve commanded
velocity in red (Parameter 1021)