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5. PARAMETERS

5.2.5 Position smoothing

By setting the position command acceleration/deceleration time constant (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 parameter No. 55 according to the
machine used.

(1) For step input

C

o

mma

n

d

(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. 7)

(2) For trapezoidal input

C

o

mma

n

d

Time

t

(3t)

t

(3t)

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. 7)