![background image](http://html1.mh-extra.com/html/omron/r88d-1sn01h-ect/r88d-1sn01h-ect_user-manual_742796398.webp)
7 Applied Functions
7 - 32
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-9
Soft Start
This function performs auto acceleration and deceleration inside the Servo Drive when step-type veloc-
ity commands are input.
To reduce any impacts made by acceleration changes, you can also use the velocity command
first-order lag filter.
For a step velocity command input, set the time required for the velocity command to reach 1,000 r/min
in Acceleration Time.
Similarly, set the time required for the velocity command to decrease the velocity from 1,000 r/min to 0
r/min in Deceleration Time.
Acceleration Time [ms] = Vc/1,000 r/min × Acceleration Time × 0.1 ms
Deceleration Time [ms] = Vc/1,000 r/min × Deceleration Time × 0.1 ms
7-9-1
Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name
Description
Refer-
ence
3021
---
Velocity Command Filter
---
01
Acceleration Time
Sets the acceleration time during accelera-
tion.
02
Deceleration Time
Sets the deceleration time during decelera-
tion.
03
IIR Filter Enable
Selects whether to enable or disable the
IIR filter in the velocity command filter.
0: Disabled
1: Enabled
04
Filter Cutoff Frequency
Sets the cutoff frequency for the IIR filter.
7-9-2
Soft Start Acceleration/Deceleration Time
Time
Velocity command [r/min]
Acceleration Time × 0.1 ms
Deceleration Time × 0.1 ms
1,000 [r/min]
Velocity command before
acceleration control
(step type command)
Velocity command after
acceleration control
(trapezoidal type command)
Содержание R88D-1SN01H-ECT
Страница 17: ...15 CONTENTS AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 266: ...3 Specifications 3 102 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 430: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 568: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 822: ...Appendices A 174 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 823: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 826: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 827: ......