Mitsubishi MR-JE-10A Instruction Manual page 166

5. PARAMETERS
No./ Setting
symbol/name digit
PC03 This is used to smooth start/stop of the servo motor.
STC Set the time of the arc part for S-pattern acceleration/deceleration.
S-pattern Servo is usually operated with linear acceleration and deceleration; however,
acceleration/ smooth start and stop are enabled by setting [Pr. PC03 S-pattern
deceleration acceleration/deceleration time constants]. When the S-pattern
time constant 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.
Rated speed
Setting speed
Servo motor
speed
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
PC04 Set the constant of a primary delay to the torque command.
TQC
Torque
command
time constant
Setting range: 0 to 50000
Acceleration
time constant
0 [r/min]
Ta
Ta + STC
Torque command
Torque
TQC
TQC: Torque command time constant
Function
Deceleration
time constant
Ta: Time of reaching to
Tb: Stopping time
Tb + STC
Tb
After filtering
TQC
5 - 29
Initial
value
[unit]
0
[ms]
the setting speed
0
[ms]
Time
Control mode
P S T