Mitsubishi Electronics MR-J2S- A Position smoothing, For step input, For trapezoidal input

5. PARAMETERS

5.2.5 Position smoothing

By setting the position command acceleration/deceleration time constant (parameter No.7), 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. 55 according to the machine used.

(1) For step input

Command

t

t

(3t)

:Input position command

:Position command after filtering for primary delay

:Position command after filtering for linear acceleration/deceleration

t: Position command acceleration/ deceleration time constant (parameter No. 7)

Time

(2) For trapezoidal input

(3t)

t

Command

t

(3t)

t

Time

:Input position command

:Position command after filtering for linear acceleration/deceleration

:Position command after filtering for primary delay

:Position command acceleration/ deceleration time constant (parameter No. 7)

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