5-5
5-2-3 Torque command linear acceleration and deceleration
A smooth torque command can be achieved by enabling acceleration/Deceleration parameter
Tn101.
Parameter Name Setting Description
Setting
range
Control
mode
0 Disable
1 Enable
★
Tn101
Linear acceleration/
deceleration method
2
Enable Torque command smooth
accel/decel time Constant.
0
│
2
T
¾ Torque command acceleration/deceleration time, is the time taken for the torque to
rise from zero to the required level by Tn102.
¾ As per diagram below:
Parameter Name Default Unit Setting Range
Control
mode
★
Tn102
Linear acceleration
/deceleration time period
1 msec 1~50000 T
New setting will become effective after re-cycling the power.
Time (ms)
Tn102
Torque Comman
Rated Torque
Command
Required Torque
Command
Setting examples:
(1) To achieve 50% of rated torque output in 10msec:
20(msec)
50%
100%
10(msec)Tn102 =×=
(2) To achieve 75% of rated torque output in 10msec:
13(msec)
75%
100%
10(msec)Tn102 =×=
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