D1-N Series Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM Corp. 3-7
(3) Acceleration
Acceleration is the change in velocity per unit time. Units used for different motion types are as
below.
Table 3.4.3
Motion Unit
Linear Motion um/sec
2
, mm/sec
2
and m/sec
2
Rotary Motion rps
2
(4) Smooth factor
When acceleration or deceleration is dramatically increased or decreased in a short time, the force
applied to the motor and load will be increased or decreased accordingly. Smooth factor is used to
create S-curve or T-curve velocity profile to moderate the impact from such change. The setting
range of smooth factor is from 0 to 500. Increase the value of smooth factor to have S-curve velocity
profile and smaller impact. Decrease the value of smooth factor to have T-curve velocity profile. Set
smooth factor to 1 to disable smoothing function. In some occasions, settling performance can be
enhanced by increasing smooth factor since the impact from the motor force is reduced. However,
smoother motion may have longer move time. Find suitable value for smooth factor by executing test
run and tuning on your machine. When smooth factor is set to 0, the motion protection of the servo
drive is disabled.
(5) Emergency stop
D1-N servo drive has emergency stop function. When I1 signal (Axis enable) is OFF, the emergency
stop function is activated. The servo drive commands the motor to decelerate at the speed set for
Dec. kill to a stop.
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