Pl (pole), Motion – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
PL (Pole)
[Motion]
DESCRIPTION:
The PL command adds a low-pass filter in series with the PID compensation. The digital transfer function of
the filter is (I-P)/(Z-P) and the equivalent continuous filter is A/(S+A) where A is the filter cutoff frequency:
A=(1/T) In (I/p) rad/sec and T is the sample time.
ARGUMENTS: PL n,n,n,n or PLA=n
where
n is a positive number in the range 0 to 0.9999.
USAGE:
OPERAND USAGE:
_PLn contains the value of the pole filter for the specified axis.
RELATED COMMANDS:
EXAMPLES:
While Moving
Yes
Minimum n Value
0
In a Program
Yes
Maximum n Value
0.9999
Command Line
Yes
Default Value
0.0
Default Format
3.0
PL .95,.9,.8,.822
Set A-axis Pole to 0.95, B-axis to 0.9, C-axis
to 0.8, D-axis pole to 0.822
MG_PLX
Return Pole X only
0.9527
MG_PLY
Return Pole Y only
0.8997