Mitsumi electronic MR-J3- A Manual De Usuario

 

 

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5. PARAMETERS 

 
5.2.3 Position smoothing 

By setting the position command acceleration/deceleration time constant (parameter No.PB03), you can run 
the servo motor smoothly in response to a sudden position command. 
The following diagrams show the operation patterns of the servo motor in response to a position command 
when you have set the position command acceleration/deceleration time constant. 
Choose the primary delay or linear acceleration/deceleration in parameter No.PB25 according to the machine 
used. 
 
(1) For step input 

Co

m

m

and

(3t)

t

t

Time

t

: Input position command

: Position command after
  filtering for primary delay
: Position command after filtering
  for linear acceleration/deceleration
: Position command acceleration/

 deceleration time constant (parameter No.PB03)

(2) For trapezoidal input 

For trapezoidal input (linear acceleration/deceleration), the setting range is 0 to 10ms. 

C

om

m

and

t

(3t)

t

(3t)

Time

t

: Input position command

: Position command after
  filtering for primary delay

: Position command after filtering

 for linear acceleration/deceleration

: Position command acceleration/
  deceleration time constant
  (parameter No.PB03)