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7 Applied Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-9 Soft Start
7
7-9-1 Objects Requiring Settings
7-9 Soft Start
This function performs auto acceleration and deceleration inside the Servo Drive when step-type veloc-
ity commands are input.
To reduce any impacts made by acceleration changes, you can also use the velocity command
first-order lag filter.
For a step velocity command input, set the time required for the velocity command to reach 1,000 r/min
in Acceleration Time.
Similarly, set the time required for the velocity command to decrease the velocity from 1,000 r/min to 0
r/min in Deceleration Time.
Acceleration Time [ms] = Vc/1,000 r/min × Acceleration Time × 0.1 ms
Deceleration Time [ms] = Vc/1,000 r/min × Deceleration Time × 0.1 ms
7-9-1 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3021
---
Velocity Command Filter
---
P. 9- 2 3
01 Acceleration Time Sets the acceleration time during accelera-
tion.
P. 9- 2 3
02 Deceleration Time Sets the deceleration time during decelera-
tion.
P. 9- 2 3
03 IIR Filter Enable Selects whether to enable or disable the
IIR filter in the velocity command filter.
0: Disabled
1: Enabled
P. 9- 2 3
04 Filter Cutoff Frequency Sets the cutoff frequency for the IIR filter. P. 9-23
7-9-2 Soft Start Acceleration/Deceleration Time
Time
Velocity command [r/min]
Acceleration Time × 0.1 ms Deceleration Time × 0.1 ms
1,000 [r/min]
Velocity command before
acceleration control
(step type command)
Velocity command after
acceleration control
(trapezoidal type command)
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