Mitsubishi Electric MELSERVO HG-MR Instruction Manual page 377

APPENDIX
(2) Settling time (t ) during linear acceleration/deceleration
s
Since droop pulses still exist regardless of zero command pulse, settling time (t
servo motor stops.
Set the operation pattern in consideration for the settling time.
The settling time (t
s
t ≈ 3 • T
s p
1
= 3 • [s] ··············································································································· (5.8)
K
p
*When K = 70 [rad/s], t
p
The settling time (t
s
accuracy range. This does not always mean that the servo motor has stopped completely. Thus,
especially when the servo motor is used in high-duty operation and positioning accuracy has no margin
for travel distance per pulse (∆l), the value obtained by equation 5.8 must be increased.
The settling time (t
s
large, movement may be unstable near the stopping position.
) value is obtained according to equation 5.8.
≈ 0.04 [s]. (above diagram)
s
) indicates the time required for the servo motor to stop in the necessary positioning
) will vary with the moving part conditions. Especially when the load friction torque is
App. - 16
) is required until the
s