Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 36.1.2 SmoothingThe smoothing function applies a filter inside the servo amplifier to a constant-frequency reference input so that acceleration and deceleration can be as constant aspossible. To use this function, set the following parameters.Use the following parameter to set the type of filter to be applied.Either an acceleration/deceleration or average movement filter can be selected.The time constant and time for these filters are set in the following parameters.Time constant for Acceleration/Deceleration Filter:Averaging time for Average Movement Filter:This function provides smooth motor operating in the following cases:• When the host device which outputs references 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).Parameter Signal Setting DescriptionPn207.0 Position Reference Filter Selection Default Setting: 0 Position ControlPn207.0 Setting Result0 Enables acceleration/deceleration filter.1 Enables average movement filter.Parameter Signal Setting(x0.01ms) DescriptionPn204 Position Reference Accel/DecelTime Constant Setting Range: 0 to 6400Default Setting: 0 Position ControlParameter Signal Setting(x 0.01ms) DescriptionPn208 Position Reference MovementAveraging Time Setting Range: 0 to 6400Default Setting: 0 Position Control
