Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

8.6 Operating Using Position Control8.6.4 SmoothingA filter can be applied in the SERVOPACK to a constant-frequency reference pulse.(1) Selecting a Position Reference FilterParameterPn207 n.0 Acceleration/deceleration filtern.1 Average movement filterDescription* After resetting the parameter, turn OFF the power once and turn it ON again.(2) Filter-related ParametersPn204Position Reference Acceleration/Deceleration Time ConstantPositionPn208Setting Range Setting Unit Factory Setting Setting Validation0 to 6400 0.01 ms 0 ImmediatelyAverage Movement Time of Position ReferencePositionSetting Range Setting Unit Factory Setting Setting Validation0 to 6400 0.01 ms 0 Immediately• IMPORTANTWhen the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulseinput and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulsefrom the host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e.,the number of pulses).• When the host controller that outputs a reference 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).The difference between the position reference acceleration/deceleration time constant (Pn204) and the position referencemovement averaging time (Pn208) is shown below.Acceleration/Deceleration FilterAverage Movement Time FilterPn207=n.0Pn207=n.1100%Before filter appliedAfter filter applied8100%63.2%Before filter appliedAfter filter applied36.8%tPn208Pn208Response waveform for stepwise inputPn204Pn204tPn208Before filter appliedAfter filter appliedResponse waveform for stepwise inputPn208tResponse waveform for ramp reference input8-57