User`s manual

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Time lag in sinusoidal acceleration/deceleration
When the sinusoidal acceleration/deceleration speed is set, pay attention as a time lag
such as that shown below occurs.
Where,
Ts=Tacc*S/100
Ts: Sinusoidal lag time (lag time near center of acceleration of lines 1 and 2 in the
figure below)
Tacc: Acceleration time
S: Acceleration/deceleration curve (0 to 99%) of parameter 1
Appendix 1 Setting the sinusoidal acceleration/deceleration speed
Set the acceleration/deceleration curve in sinusoidal drive to parameter 1 address A+0074.
(1) Ramp drive: setting value 00
Ramp drive is as follows in point-to-point control.
Appendix
(2) Sinusoidal drive: setting value 01 to 99
Sinusoidal drive, normally, is used for smoothing movement of externally connected
machines. As shown below, the larger the numerical value set, the smoother (rounder)
the curves of angles of the ramp become. The radius of these curves change according to
the target speed, acceleration/deceleration time and other factors. Determine the
optimum values while actually changing values and monitoring operation as the curve
changes according to the device to be used and adjustment of servo gain.
Ts Ts
200
150
100
50
0
Line 1: Initially created ramp pattern
Line 2: Motor drive pattern