Mitsubishi Electric EZMOTION MR-E Super MR-E-70A-QW003 - Position Smoothing

5 - 29
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
Command
(3t)
tt
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
Command
Tim
e
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)
www.DataSheet4U.com