98Parameter SettingInput position commandt fPosition command afterprocessing of thesmoothing filtertf TimeCommandPosition command after processing of FIR filtertf = (Pr4E+1) x control cycleA smoothing filter is the primary delay filter inserted after command dividingmultiply part of the command pulse input part.• With Pr4C, you can set a time constant of the smoothing filter in 8 steps:• The parameter selects a time constant of FIR filter to be subjected to commandpulse.• When setting is higher, a command will be smoother.• Note that any change to this parameter will only be enabled after you reset thepower supply.The control cycle is 166 μs for Pr02=0 (high velocity response positioning control)and 333 μs for Pr02=2 (high function positioning control).PrNo. Parameter Name Function/Content4C4ESmoothing filterset-upFIR filter set-up0 - 70 - 31[0]Purpose of smoothing filter• Its primary purpose is to reduce stepping motion of the motor when acommand pulse is rough.• To give actual examples of rough command pulse:(1) When you set a high multiplier ratio (i.e., 10 times or more) in commanddividing multiplier(2) When the command pulse frequency is lowStandard Default Setup: [ ]Parameters for Internal Velocity ControlStandard Default Setup: [ ]PrNo. Parameter Name Function/ContentThe parameter directly sets in [r/min] JOG speed during JOG operation in “motortest run mode”.For details of JOG function, refer to “Test Run (JOG)” on Page 60 of Preparationsedition.57 JOG internal speedset-up0 -500[300]Range ofSettingsRange ofSettingsSettings0[1]7Time ConstantNo filtering functionLow time constantHigh time constant~Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
