4-96
• Select the filter characteristics using Pn207.0 (position command filter selection).
• When Pn204 (position command filter time constant 1) is selected, acceleration and deceleration are
performed using the primary filter (exponentiation function).
• When Pn208 (position command filter time constant 2) is selected, acceleration and deceleration are
linear.
• This function is effective in the following cases:
There is no acceleration/deceleration function in the command pulse (controller).
The command pulse frequency changes rapidly, causing the machinery to vibrate during accelera-
tion and deceleration.
The electronic gear setting is high (G1/G2 =  10).
H Parameters Requiring Settings
Parameter
No.
Parameter name Explanation Reference
Pn207.0 Select position
control filter
Select either primary filter (setting: 0), or linear
acceleration and deceleration (setting: 1).
4-4-4
Parameter
Pn204 Position control
filter time constant
1 (primary filter)
Enabled when Pn207.0 = 0. Be sure to set the
primary filter time constant (setting range = 0 to 6400
(x 0.01 ms)).
Details
Pn208 Position control
filter time constant
2 (linear
acceleration and
deceleration)
Enabled when Pn207.0 = 1. Be sure to set the
acceleration and deceleration times (setting range =
0 to 6400 (x 0.01 ms)).
Note If not using the position command filter function, set each content to 0 (i.e., the default setting).
H Operation
• The characteristics for each filter are shown below.
• Servomotor acceleration and deceleration are delayed further than the characteristics shown below
due to position loop gain delay.
Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain (Pn102)
D Primary filter
Speed
Command pulse in-
put frequency
Input frequency x 0.63
Input frequency x 0.37
Time
Operation Chapter 4
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