7. PARAMETERS
7 - 38
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control
mode
CP CL
PC03
*STC
S-pattern
acceleration/
deceleration
time constant
This parameter is used to smooth start/stop of the servo motor.
Set the time of the arc part for S-pattern acceleration/deceleration.
Setting "0" will make it linear acceleration/deceleration.
Servo is usually operated with linear acceleration and deceleration; however,
smooth start and stop are enabled by setting [Pr. PC03 S-pattern
acceleration/deceleration time constants]. When the S-pattern
acceleration/deceleration time constants are set, smooth positioning is enabled as
shown in the following figure. Note that when it is set, a time period from the start to
output of MEND (Travel completion) is longer by the S-pattern
acceleration/deceleration time constants.
Acceleration
time constant
Servo motor
speed
0 [r/min]
Deceleration
time constant
Ta
Ta + STC Tb
Tb + STC
Rated speed
Set speed
Ta: Time period until the
servo motor reaches
the set speed
Tb: Time period until the
servo motor stops
When the STC value is set longer than the constant speed time, the speed may not
reach to the command speed.
Additionally, when 1000 ms or more value is set, it will be clamped to 1000 ms.
Setting range: 0 to 5000
0
[ms]
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