User manual
№SR-ZSV00039 － 16 －
Motor Business Unit, Appliances Company, Panasonic Corporation
4－2－3 Position Command Filter
A command filter can be specified to smooth a position command after scaling (electric gear).
Related parameters
Category
No.
Parameter
Setup
range
Unit
Function
2 22
Position command
smoothing filter
010000
0.1 ms
Specifies the first order filter time constant for a position command.
2 23
Position command FIR
filter
010000
0.1 ms
Specifies the FIR filter time constant for a position command.
Pr2.22 "Position command smoothing filter"
Specifies the first order filter time constant for a square wave command with a target velocity of Vc as shown in the
figure below.
*1 Actual filter time constant contains absolute error of 0.4 ms maximum when the set value multiplied by 0.1 ms is less than
100 ms and relative error of 0.2% maximum when the set value multiplied by 0.1 ms is 20 ms or greater.
*2 Pr2.22 " Positional command smoothing filter " is switched when "in-position" is being output and when a command whose
command pulse per time (0.166 ms) changes from 0 to any state except 0 is rising.
Specifically when filter time constant is decreased and the in-position range is increased, the motor may temporarily rotates at
a faster speed than the command speed if accumulated pulses—an area acquired by integrating the difference between the po-
sition command before filtering and the position command after filtering by time—are left in the filter at the point above. This
is because accumulated pulses are rapidly cleared immediately after the switching and the motor goes back to the initial posi-
tion. Use caution.
*3 There is a delay until the change in Pr2.22 " Positional command smoothing filter " is applied to internal calculation. If the switching
timing described in *2 comes during the delay, the change may be suspen
Velocity
[r/min]
Vc
Vc
0.632
*1
Positional command smoothing
filter Position command
smoothing filter setting time
[ms]
(Pn2Pr2.22×0.1 ms)
Vc
0.368
*1
Time
Position com-
mand before
filtering
Position com-
mand after filter-
ing
Waiting time for swich-
ing filter *2