7 Applied Functions
7 - 34
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Precautions for Correct Use
Do not set the Acceleration Time and the Deceleration Time when the position loop structure
with a host controller is used.
The command first-order lag filter is an IIR filter for velocity commands.
7-9-3 Velocity Command First-order Lag Filter
Vc × 0.632
(s)
Vc × 0.368
Time
Velocity command [r/min]
Target velocity
Target velocity
Target velocity
Velocity command
before filter process
Velocity command
after filter process
1/(2π × Filter Cutoff Frequency)
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