Parameter functions: When the servo driver runs in the speed mode, these three parameters are used to set the motor acceleration/deceleration time. P2-04: Set the time required for the motor to accelerate from speed 0 to the rated speed. P2-05: Set the time required for the motor to decelerate from rated speed to speed 0. P2-06: Set the S curve smoothing time during the acceleration/deceleration process. If S curve is used (i.e. P2-06≠0), the driver uses three-segment acceleration curve planning for motion command smoothing in the acceleration or deceleration process.
In this case, the acceleration generated is continuous, so as to avoid abrupt change of input commands resulting in excessive jerking (acceleration differentiation) and further causing vibration of the mechanical structure and production of noise. The user may use P2-04 to adjust the speed change slope in the acceleration process, use P2-05 to adjust the speed change slope in the deceleration process, and use P2-06 to smooth the start and stop processes of the motor.
119 Technical Manual for EA190 Series Servo Driver V100 P2-04 Speed S-type acceleration time TSACC Initial value 200 Communication address 0204H Unit ms Time of taking effect With immediate effect Setting range 0~65535 Data size 16bit Control mode S P2-05 Speed S-type deceleration time TSDEC Initial value 200 Communication address 0205H Unit ms Time of taking effect With immediate effect Setting range 0~65535 Data size 16bit Control mode S P2-06 Speed S-type acceleration/deceleration smoothing time TSL Initial value 50 Communication address 0206H Unit ms Time of taking effect With immediate effect Setting range 0~10000 Data size 16bit Control mode S Caution☞ 1.
P2-04 and P2-05 refer to the acceleration and deceleration time required for the motor speed to change from or to the rated motor speed. If the change to the target speed does not equal to the value of the rated motor speed, then the time required will change according to the ratio of the change and the rated motor speed. For example, if the target motor speed is 1,500rpm, the rated motor speed is 3,000rpm, P2-04 = 200ms and P2-05 = 300ms, then the motor requires 100ms to accelerate from speed 0 to speed 1,500rpm and 150ms to decelerate speed 1,500rpm to speed 0. 2.
The S-shaped acceleration/deceleration time TSL is only valid in the speed mode, and invalid in the JOG, emergency braking, overrun braking, alarm and activation OFF braking conditions. 3. When an alarm, activation OFF, overrun braking or emergency braking occurs, the deceleration time depends on P0-17, P0-18 and P0-19; and P2-05 is invalid.