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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 trapezoidal input
For trapezoidal input (linear acceleration/deceleration), the setting range is 0 to 10ms.
C
o
m
m
a
n
d
t
(3t)
t
(3t)
Time
t
: Input position command
: Position command after
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
: Position command acceleration/
deceleration time constant
(parameter No.PB03)
