User Manual Of EL7-EC** AC Servo
87
Range
0~10000
Unit
ms/
(1000RPM)
Default
0
Index
2313h
Activation
Immediate
Set max acceleration/deceleration for velocity command.
If target velocity =
x
[rpm], max acceleration =
a
[unit: rpm/ms], acceleration time =
t
[ms]
Pr3.12 =
1000
/
a
Pr3.13 =
1000
/
a
a = x/t
For example: If motor is to achieve 1500rpm in 30s,
a=1500/30=50rpm/ms
Pr3.12 = 1000/
a= 20.
Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s.
Velocity
(rpm)
Initial acceleration
time
With added
acceleration
deceleration
time settings
Time(ms)
1000
(rpm)
PA3.12
PA3.13
Usually used when there is rapid acceleration or trapezoidal wave velocity command due to many different
internal speed segments under velocity control mode which causes instable while motor in motion.
Under velocity control mode, 6083 and 6084 is limited by Pr3.12 and Pr3.13 correspondingly.
Pr3.14
Label
Sigmoid
acceleration/deceleration
settings
Mode
PV
CSV
Range
0~1000
Unit
ms Default
0
Index
2314h
Activation
Axis disable
To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13.
Velocity
(RPM)
Time
Target
velocity
Vc
ta=Vc/1000 PA3.12 1ms
td=Vc/1000 PA3.13 1ms
ts=Pr3.14 1ms
Please set according to
ta/2>ts
、
td/2>ts
ts
ts
ts
ts
ta
td
