Optional Position Command Output Smoothing Filter

In some applications, smoothing of the position output to the drive is used to reduce vibration of machine parts. This smoothing forms an additional filter that should be used with caution. This filter cannot be compensated by a static dead time.

Smoothing Filter Type and Smoothing Filter Time

Optional Position Command Output Smoothing Filter 1:

Optional Position Command Output Smoothing Filter 2:

Optional Position Command Output Smoothing Filter 3:

If

is selected, smoothing of the position output is disabled.

As filter types

can be selected. Both modes refer to the position setpoint.

‘Moving Average’: As an output, the Moving Average Filter generates an average value of a series of position setpoints that comes to the filter as an input. Here, the Smoothing Filter Time prescribes the time interval over which the average extends. The values of the input are generated by position setpoint generation. Thus, the frequency of value generation is determined by the cycle time of the task for generating the setpoints.
For example, if a new value is generated every 1 ms and the Smoothing Filter Time is set to e.g. 20 ms, an average of 20 values is determined. The influence of a setpoint is perceptible for 20 ms.

‘P-Tn’: As an output, the P-Tn filter generates an average value of a series of position setpoints that comes to the filter as an input. Here the Smoothing Filter Time prescribes the time constant of the P-Tn filter. The values of the input are generated by position setpoint generation. Thus, the frequency of value generation is determined by the cycle time of the task for generating the setpoints.

Smoothing Filter Order (P-Tn only)

Optional Position Command Output Smoothing Filter 4:

Optional Position Command Output Smoothing Filter 5:

Optional Position Command Output Smoothing Filter 6:

The order of the P-Tn smoothing filter used.