9-20
9-3 Vibration Suppression Settings
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
 This constant is used to reduce the stepping movement of the motor and achieve a smooth
operation when the electronic gear ratio is set in 10 times or greater.
 It sets the first-order lag filter time constant, as shown below, for the square-wave command of
target speed Vc.
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and 0.2%
max. (relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per 0.250 ms
changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new value
is applied in internal calculations. If the filter switch wait time expires during this delay, the change may be placed on
hold.
3222 hex
Position Command Filter Time Constant
Setting
range
0 to 10000 Unit 0.1 ms
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
t
f
= (3222 hex
*3
× 0.1 ms)
Input position command
t
f
Position command after
the smoothing filter process
t
f
Filter switching
dwell time
*2
Time
Speed
Target speed Vc
Vc × 0.632
*1
Vc × 0.368
*1
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