CHAPTER 4 PARAMETER
4-24
Basic Parameters
4
PA1_36 to 40 Acceleration time and deceleration time settings
No. Name Setting range
Default
value
Change
36
Acceleration / deceleration
selection at speed control
0: Disable
1: Enable
0 Always
37 Acceleration time 1 100.0
38 Deceleration time 1 100.0
39 Acceleration time 2 500.0
40 Deceleration time 2
0.0 to 99999.9 [ms]
500.0
Always
Specify the acceleration and deceleration of the servomotor with PA1_37 to _40
(acceleration/deceleration time).
The parameter is enabled for acceleration and deceleration motions under speed control and position
control (automatic operation, homing and manual position control operation). Acceleration and
deceleration follow these parameters during profile operation, too.
These parameters are disabled during pulse operation.
The acceleration/deceleration time setting indicates the time from 0 (zero) to 2000 r/min.
Acceleration time 2 and deceleration time 2 are enabled while the "ACC0" selection signal remains
turned on.
ACC0 can be turned on or off at any time and the acceleration time and deceleration time are similarly
changed.
ACC0 is assigned to an input signal (CONT signal). Selection follows the table below.
The deceleration time with a load in a carrier drive mechanism can be specified separately from that
without a load.
ACC0 (14) Acceleration time Deceleration time
OFF PA1_37 PA1_38
ON PA1_39 PA1_40
Use PA1_36 (acceleration / deceleration selection at speed control) to select acceleration/deceleration
of speed control.
To perform position control at the host control unit and to perform speed control at the servo system,
enter "0" to PA1_36 (control method to output analog speed command voltage at host control unit).
To perform speed control independently in the servo system, enter "1" to PA1_36 to enable PA1_37
through PA1_40. To perform position control independently in the servo system, PA1_37 through
PA1_40 are enabled without relations to the setting of PA1_36.
Acceleration/Deceleration with the speed limit of torque control also follows this parameter (PA1_36:
acceleration / deceleration selection at speed control).
Acceleration and deceleration occurs according to the table shown above if PA1_36 is set at "1"
(enable).
If the acceleration/deceleration time data is “0” during operation with position data, the values specified
in these parameters are enabled.
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