Position Smoothing - Mitsubishi Electric Melservo MR-J3-A Instruction Manual

5. PARAMETERS

5.2.3 Position smoothing

By setting the position command acceleration/deceleration time constant (parameter No. PB03), you can run
the servo motor smoothly in response to a sudden position command.
The following diagrams show the operation patterns of the servo motor in response to a position command
when you have set the position command acceleration/deceleration time constant.
Choose the primary delay or linear acceleration/deceleration in parameter No. PB25 according to the machine
used.
(1) For step input
t
(2) For trapezoidal input
For trapezoidal input (linear acceleration/deceleration), the setting range is 0 to 10ms.
(3t)
t
t
Time
(3t)
t
(3t)
5 - 25
: Input position command
: Position command after
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
: Position command acceleration/
t
deceleration time constant (parameter No. PB03)
: Input position command
: Position command after filtering
for linear acceleration/deceleration
: Position command after
filtering for primary delay
t
: Position command acceleration/
deceleration time constant
(parameter No. PB03)
Time