5-13
PA
PB
PZ
90
PA
PB
PZ
90
TIME TIME
5-3-6 Smoothing the speed command
Sn205 can be used to eliminate speed overshoot and motor vibration by selecting one of the
acceleration /deceleration methods which is suitable for the application from the table below.
Parameter Name Setting Description
Control
mode
0 Disable accel/decel smooth function
1 Smooth accel/decel according to parameter Sn206
2 Linear accel/decel according to parameter Sn207
Sn205
Speed
command
accel/decel
smooth
method
3 S-curve accel /decel according to parameter Sn208
S
Above three methods of Acceleration/deceleration are described below.
(1)Speed command smooth ac/deceleration:
Set Sn205=1 to enable the use of speed command smooth acceleration/deceleration function.
Parameter Name Default Unit Setting range
Control
mode
Sn206
Speed command smooth
accel/decel time Constant
1 msec 1~10000 S
Smooth acceleration/deceleration time corresponds to the time in which the speed command
increases from 0 to 63.2% as shown in diagram below.
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