Yaskawa SMC–4000 - Manual (Page 186)

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SMC–4000 User Manual
PL (Pole)
[Motion]
DESCRIPTION:
The PL command adds a low-pass filter in series with the PID compensation. The digital transfer function of
the filter is (I-P)/(Z-P) and the equivalent continuous filter is A/(S+A) where A is the filter cutoff frequency:
A=(1/T) In (I/p) rad/sec and T is the sample time.
ARGUMENTS: PL n,n,n,n or PLA=n where
n is a positive number in the range 0 to 0.9999.
USAGE:
OPERAND USAGE:
_PLn contains the value of the pole filter for the specified axis.
RELATED COMMANDS:
KD (Derivative Constant)
KP (Proportional Constant)
KI (Integrator)
NF (Notch Filter)
NZ (Notch Zero)
NB (Notch Bandwidth)
EXAMPLES:
While Moving Yes Minimum n Value 0
In a Program Yes Maximum n Value 0.9999
Command Line Yes Default Value 0.0
Default Format 3.0
PL .95,.9,.8,.822 Set A-axis Pole to 0.95, B-axis to 0.9, C-axis
to 0.8, D-axis pole to 0.822
MG_PLX Return Pole X only
0.9527
MG_PLY Return Pole Y only
0.8997