Yaskawa Sigma Mini - Manual (Page 91)

2.5Running the Motor Smoothly
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2.5.2 Smoothing
The smoothing function adjusts constant-frequency reference input inside the Servopack so
that acceleration and deceleration can be as constant as possible. To use this function, set
the following parameter.
Cn-26
ACCTME Position Reference
Acceleration/Deceleration
Time Constant
(Smoothing)
Unit:
0.1 ms
Setting
Range:
0 to 640
Factory
Setting:
0
For
Position
Control
This function performs acceleration/deceleration pro-
cessing for input reference pulses (primary lag char-
acteristics).
This function prevents the motor from running at pro-
gressive speeds in the following cases:
• When the host controller which outputs references
cannot perform acceleration/deceleration proces-
sing
• When reference pulse frequency is too low
• When reference electronic gear ratio is too high (more than 10 times)
This function does not change the travel distance (number of pulses).
2.5.3 Gain Adjustment
If speed loop gain or position loop gain exceeds the allowable limit for the servo system in-
cluding the machine to be controlled, the system will vibrate or become too susceptible.
Under such conditions, smooth operation cannot be expected. Reduce each loop gain value
to an appropriate value.
For details on servo gain adjustment, refer to 2.6.2 Servo Gain.
2
Positions
Reference
pulse
Servopack
Accelerati
on/decele
ration
Servomotor
Reference
pulse
frequency Apply acceleration/deceleration
processing
Reference
pulse
frequency
Cn-26 (ACCTME)