3-27
the positioning completion output is not adversely affected (e.g., turn repeatedly ON and OFF) and so
that the speed does not overshoot.
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Explanation
Cn-26
Position command
acceleration/decel-
eration time
constant
0
×
0.1 ms
0 to 640
Sets the time constant for smoothing (posi-
tion command soft start function).
Even if the position command pulses are
input in steps, the time constant set here
will be used to accelerate/decelerate the
motor.
The same time will be used for both accel-
eration and deceleration.
Set this parameter to 0 when using a posi-
tion controller that has an acceleration/de-
celeration function.
Position Loop Adjustment
j
Position Loop Block Diagram
Position com-
mand accel-
eration/ decel-
eration time
constant
Command
pulses
Cn-02 bit
nos. 3, 4, 5
Command
pulse mode
Positioning
completion
range
Deviation
counter
Position
loop gain
Speed
loop
Current
loop
Encoder
Z-phase
output
Speed
detection
M
E
×
4
Cn-1b
Cn-26
Cn-1A
Cn-24,25
Cn-04,05
Cn-17
Electronic
gear ratio
G1/G2
Encoder
Motor
3-8
Regenerative Energy Absorption
Regenerative energy produced at times such as Servomotor deceleration is absorbed
by the Servo Driver’s internal capacitors, thereby preventing an increase in DC voltage.
If the regenerative energy from the Servomotor becomes too large, however, an over-
voltage error will occur. In such cases, it is necessary to connect a Regeneration Unit to
increase the capacity for absorbing regenerative energy.
3-8-1 Calculating Regenerative Energy
Regenerative energy is produced when the direction of Servomotor rotation or output torque is re-
versed. The methods for calculating regenerative energy for the horizontal and vertical shafts are ex-
plained below.
Operation
Chapter 3
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