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3.13
Acceleration/deceleration function
The acceleration/deceleration function enables smooth acceleration/deceleration. The following methods are available for the
acceleration/deceleration function.
Item
Explanation
Acceleration/deceleration
This is a method for performing acceleration/deceleration in accordance with the specified
time constant method
acceleration/deceleration time constants [ms].
Set [Pr. PT01.1 Speed/acceleration/deceleration unit selection] to "0" to enable this method.
Acceleration/deceleration
This is a method for performing acceleration/deceleration in accordance with the specified
method
acceleration/deceleration [command unit/s
Set [Pr. PT01.1 Speed/acceleration/deceleration unit selection] to "1" to enable this method.
Acceleration/deceleration time constant
The acceleration/deceleration time constant is the period of time taken to reach the rated speed from 0 [r/min] or to reach 0 [r/
min] from the rated speed for the commands or limits. The control mode influences whether the acceleration/deceleration time
constant is set in the servo parameters, objects, or other settable areas.
[Setting example]
For a servo motor with a rated speed of 3000 [r/min], set 3 [s] to accelerate from 0 [r/min] to 1000 [r/min] in 1 [s].
Servo motor speed
Rated speed
0 r/min
Setting value of
acceleration time constant
Precautions
• Refer to the servo parameters, objects, and others of each control mode for the acceleration/deceleration time constant
setting.
Setting method
The setting method varies for each control mode. Refer to the following table. In addition, the deceleration time constant of the
forced stop deceleration function can be set with [Pr. PC24 Deceleration time constant at forced stop]. Refer to the following.
Page 66 Forced stop deceleration function
Control mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Homing mode
2
].
If the preset command speed is lower than the rated speed,
the acceleration/deceleration time will be shorter.
Time
Setting value of
deceleration time constant
Symbol
Description
csp
Determined by the commands from the controller.
Set according to the manual of the controller to be used.
csv
cst
hm
This mode can be set with [Homing acceleration (Obj. 609Ah)]. Refer to the following.
Page 17 Homing mode (hm)
Reference
Page 75 Acceleration/
deceleration time constant
Page 76 Acceleration/
deceleration
3 BASIC FUNCTION
3.13 Acceleration/deceleration function
3
75
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