Справочник Пользователя для Mitsubishi Electronics MR-J2M-P8A
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5. PARAMETERS
5.3.5 Position smoothing
By setting the position command acceleration/deceleration time constant (DRU parameter No.7), 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 DRU parameter No. 55 according to the
machine used.
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 DRU parameter No. 55 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
(DRU parameter No. 7)
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
: Position command acceleration/
deceleration time constant
(DRU parameter No. 7)
(2) For trapezoidal input
Com
m
an
d
Time
t
(3t)
t
(3t)
t
: Input position command
: Position command after
filtering for primary delay
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
for linear acceleration/deceleration
: Position command acceleration/
deceleration time constant
(DRU parameter No. 7)
deceleration time constant
(DRU parameter No. 7)