Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual
Page 135
8 Command Reference
8.1.5 S-curve Time Constant Change (SCC)
8-28
(c) Filter Type Selection
Before enabling the S-curve acceleration/deceleration, set the filter type of each axis by setting bit 8 to B (Fil-
ter type selection) of OW
03 to 2: (Moving Average Filter).
When a built-in SVB or SVB-01 module is used and the function for automatically writing the parameters
into the SERVOPACK is disabled, execute 13 (change filter type) of the motion setting parameter OW
08
(Motion commands) to write the set filter type into the SERVOPACK.
An example of programming to change the filter type using a motion program is shown below.
Note: When using an SVA-01, PO-01, or SVR module, the following program is not necessary.
When using an SVB or SVB-01 module, the following program can be omitted by enabling the func-
tion to write parameters into the SERVOPACK.
Refer to 11.6 Parameters That Are Automatically Updated in Machine Controller MP2000 Series Built-in SVB/SVB-01
Motion Module User’s Manual (manual number: SIEPC88070033) for information on the built-in SVB/SVB-01 module
function for automatically writing parameters into the SERVOPACK.
Parameter Name
Register No.
Filter Type
Function setting 1,
Filter type selection
OW
03,
bit 8 to B
0: No filter (default)
1: Exponential acceleration/deceleration filter
2: Moving average filter
:
:
" Verify if changing the filter type is allowed
IOW IW8008 == 0; " Wait for response No motion command in execution
IOW IB800C0 == 1; " Wait for response Discharging completed
" Select the filter type Moving Average Filter
DW00000 = OW8003 & F0FFH; " Holds information other than Filter Type Selection
OW8003 = DW00000 | 0200H; " Filter type = Moving average filter
" Write the filter type from the built-in SVB/SVB-01 module into the SERVOPACK
OW8008 = 13; " Request to change filter type
IOW IW8008 == 13; " Wait for response Processing SCC
IOW IB80098 == 1; " Wait for response Command execution completed
OW8008 = 0; " Clears the request
IOW IW8008 == 0; " Wait for response No motion command in execution
:
:
INFO