5.4 Position Control5-395 Operation5.4.5 SmoothingApplying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow-ing cases.• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.• When the reference pulse frequency is too low.Note: This function does not affect the travel distance (i.e., the number of reference pulses). Related ParametersSet the following filter-related parameters.Change the setting while there is no reference pulse input and the servomotor stops.∗ When set to 0, a filter becomes ineffective.Note: The difference between the position reference acceleration/deceleration time constant (Pn216) and the averagemovement time of position reference (Pn217) is shown below.Pn216Position Reference Acceleration/Deceleration TimeConstant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 65535 0.1 ms 0 * Immediately after theservomotor stops SetupPn217Average Movement Time of Position Reference ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 10000 0.1 ms 0 * Immediately after theservomotor stops SetupWhile the servomotor is rotating, changes in Pn216 or Pn217 will not be reflected. Thechanges will be effective after the servomotor comes to a stop with no reference pulseinput.Acceleration/Deceleration Filter (Pn216) Average Movement Time Filter (Pn217)–PositionPosition100%63.2%36.8%Pn216 Pn216Reference pulsefrequency Before filter appliedAfter filter appliedTime100%Pn217 Pn217Before filter appliedAfter filter appliedTimeReference pulsefrequencyPn217Pn217100%Before filter appliedAfter filter appliedTimeReference pulsefrequency
