9 Servo Parameter Objects
9-24
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• The S-curve acceleration/deceleration function ensures smooth operation in applications where
linear acceleration or deceleration could cause impact due to a large change in the acceleration or
deceleration speed during start, stop, or other operation.
• This is achieved by adding a pseudo-S-curve acceleration/deceleration value to the linear
acceleration/deceleration speed command.
Refer to 7-8 Soft Start on page 7-25.
• Select the speed limit.
• The speed limit is used as a protection during force control.
Explanation of Settings
Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
• Set the speed limit value for force control.
• It controls that the speed during force control does not exceed the set value.
Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.
3314 hex
S-curve Acceleration/Deceleration Time Setting
Setting range 0 to 1000 Unit ms
Default setting
0
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3317 hex
Speed Limit Selection
Setting range 0 to 1 Unit ï€
Default setting
1
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 Restrict the speed using the value set on the Speed Limit Value Setting (3321 hex).
1 Restrict the speed using either the speed limit value (VLIM) via EtherCAT communications or the
value set by the Speed Limit Value Setting (3321 hex), whichever is smaller.
3321 hex
Speed Limit Value Setting
Setting range 0 to 20000 Unit mm/s
Default setting
20000
Data attribute
A
Size 2 bytes (INT16) Access RW PDO map Not possible.
ta td
ts ts
ts ts
Speed [mm/s]
Target speed
(Vc)
ta = Vc / Maximum motor speed × 3312 hex × 1 ms
td = Vc / Maximum motor speed × 3313 hex × 1 ms
ts = 3314 hex × 1 ms
Be sure that ts is smaller than the values
obtained by the divisions of
and .
2
ta
2
td
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