[Pr. Pt51_S-Pattern Acceleration/Deceleration Time Constants (Stc)]; [Pr. Pt53_Torque Slope (Tqs)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G User Manual

[Pr. PT51_S-pattern acceleration/deceleration time constants
(STC)]
Initial value
0 [ms]
Set the time of the arc part for S-pattern acceleration/deceleration time constants.
This setting enables smooth start/stop of the servo motor.
When "0" is set, linear acceleration/deceleration is performed.
Acceleration time
Rated speed
Preset speed
Servo motor
speed
0 [r/min]
Ta
Ta + STC
If a value of 1000 [ms] or more is set, the value is clamped to 1000 [ms].
The setting is enabled at the next operation start.
This function is enabled in the profile position mode and profile velocity mode.
This function is disabled during homing.
In the profile velocity mode, if a long acceleration or deceleration time is set, a timing error may occur on the arc part against
the setting of the S-pattern acceleration deceleration time constants.
The upper limit of the actual time for the arc part is limited to 2000000/acceleration time during acceleration and 2000000/
deceleration time during deceleration.
Example) At the setting of STA ([Pr. PT49 Speed acceleration time constant]) = 20000, STB ([Pr. PT50 Speed deceleration
time constant]) = 5000, and STC = 200, the actual time for the arc part is as follows.
During acceleration: 100 [ms]
2000000/20000 = 100 [ms] < 200 [ms]
Therefore, the time is limited to 100 [ms].
During deceleration: 200 [ms]
2000000/5000 = 400 [ms] > 200 [ms]
Therefore, it will be 200 [ms] as set.

[Pr. PT53_Torque slope (TQS)]

Initial value
0.0 [%/s]
Set the rate of change in the torque command per second.
When "0.0" is set, the torque slope is disabled.
This function is enabled in the profile torque mode.
This function corresponds to [Torque slope (Obj. 6087h)].
When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller
overwrites the servo parameter values written with engineering tools.
1 SERVO PARAMETER DETAILS
138
1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
Setting range
0 to 5000
Deceleration time
constant constant
Ta: Time taken to reach the preset speed
Tb: Time taken to stop
Setting range
0.0 to 1000000.0
Setting method
Each axis
Tb + STC
Tb
Setting method
Each axis
Ver.
A5
Ver.
A5