Panasonic Minas-LIQI Series Technical Reference

Contents

№SR-ZSV00039 － 16 －Motor Business Unit, Appliances Company, Panasonic Corporation4－2－3 Position Command FilterA command filter can be specified to smooth a position command after scaling (electric gear). Related parametersCategory No. Parameter Setuprange Unit Function2 22 Position commandsmoothing filter 010000 0.1 ms Specifies the first order filter time constant for a position command.2 23 Position command FIRfilter 010000 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 thefigure 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 than100 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 whosecommand 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 ata 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. Thisis 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 switchingtiming described in *2 comes during the delay, the change may be suspenVelocity[r/min]VcVc0.632*1Positional command smoothingfilter Position commandsmoothing filter setting time[ms](Pn2Pr2.22×0.1 ms)Vc0.368*1TimePosition com-mand beforefilteringPosition com-mand after filter-ingWaiting time for swich-ing filter *2