Yaskawa Sigma II Series Servo System - Manual (Page 235)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 3
6.1.2 Smoothing
The smoothing function applies a filter inside the servo amplifier to a constant-
frequency reference input so that acceleration and deceleration can be as constant as
possible. To use this function, set the following parameters.
Use the following parameter to set the type of filter to be applied.
Either an acceleration/deceleration or average movement filter can be selected.
The time constant and time for these filters are set in the following parameters.
Time constant for Acceleration/Deceleration Filter:
Averaging time for Average Movement Filter:
This function provides smooth motor operating in the following cases:
• When the host device which outputs references cannot perform acceleration/
deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10× or more).
Parameter Signal Setting Description
Pn207.0 Position Reference Filter Selection Default Setting: 0 Position Control
Pn207.0 Setting Result
0 Enables acceleration/deceleration filter.
1 Enables average movement filter.
Parameter Signal
Setting
(x0.01ms)
Description
Pn204
Position Reference Accel/Decel
Time Constant
Setting Range: 0 to 6400
Default Setting: 0
Position Control
Parameter Signal
Setting
(x 0.01ms)
Description
Pn208
Position Reference Movement
Averaging Time
Setting Range: 0 to 6400
Default Setting: 0
Position Control