5-11
(2) Use torque command one time smoothing acceleration/deceleration function
To use this function,must set Tn101.0=2 to activate Torque Command One time Smoothing
Acceleration / Deceleration Function.
Tn110 Torque Command One Time Smoothing Acceleration / Deceleration
Constant
Initial Value Unit Setting Range Effective RS-485 Address
1 ms 1 ~ 10000 After Servo OFF 010AH
Setting Description: Set Tn101 = 2 to activate the Torque Command One Time Smoothing
Acceleration / Deceleration Function. Torque Command One Time Smoothing
Acceleration / Deceleration Time Constant is defined as the time for the Torque
one time delayed rise from 0% to 63.2% of the current Torque Command.
Current Torque Command (%)
Time (ms)
Tn110
100
50
63.2
(3) Using the torque command straight line acceleration/deceleration separation function
To use this function Tn101.0=3 has to be set to enable the torque command straight line
acceleration/deceleration separation function.
Tn102 Torque command straight line acceleration/deceleration constant
Initial Value Unit Setting Range Effective RS-485 Address
1 ms 1 ~ 50000 After Servo OFF 0102H
Setting description: The definition of torquecommandstraight line accleration/deceleration constant is
the time for the torquecommandto rise in a straight line from zero to the rated torque
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