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PARAMETERS
79
4.2.14 Acceleration/deceleration pattern (Pr. 29, Pr.140 to Pr.143)
Pr. 29 "acceleration/deceleration pattern"
Pr. 140 "backlash acceleration stopping frequency"
Pr. 141 "backlash acceleration stopping time"
Pr. 142 "backlash deceleration stopping frequency"
Pr. 143 "backlash deceleration stopping time"
Set the acceleration/deceleration pattern.
Also, you can suspend acceleration/deceleration at set frequencies and for the time period set in the
parameters.
Parameter
Number
Factory
Setting
Setting Range Remarks
29 0 0, 1, 2, 3 3: Backlash compensation
140 1.00Hz 0 to 120Hz Valid when Pr. 29 = 3.
141 0.5 s 0 to 360 s Valid when Pr. 29 = 3.
142 1.00Hz 0 to 120Hz Valid when Pr. 29 = 3.
143 0.5 s 0 to 360 s Valid when Pr. 29 = 3.
Time
[Linear acceleration/deceleration
]
Output
frequency (Hz)
Set value 0
fb
[S-shaped acceleration/deceleration A]
Time
Output
frequency (Hz)
Set value 1
f1
f2
[S-shaped acceleration/deceleration B]
Output
frequency (Hz)
Time
Set value 2
∆f2
Pr.142
∆f1 Pr.140
∆t2
Pr.143∆t1 Pr.141
Output frequency (Hz)
Set value 3
[Backlash compensation function]
Time
<Setting>
Pr. 29
Setting
Function Description
0
Linear
acceleration/
deceleration
Linear acceleration/deceleration is made up/down to the preset frequency (factory setting).
1
S-shaped
acceleration/
deceleration A
(Note 1)
For machine tool spindles
This setting is used when it is necessary to make acceleration/deceleration in a short time up to the
60Hz or higher speed range. In this acceleration/deceleration pattern, fb (base frequency) is always the
inflection point of an S shape, and you can set the acceleration/deceleration time according to the
reduction in motor torque in the 60Hz or higher constant-output operation range.
2
S-shaped
acceleration/
deceleration B
Prevention of cargo collapse on conveyor, etc.
This setting provides S-shaped acceleration/deceleration from f2 (current frequency) to f1 (target
frequency), easing an acceleration/deceleration shock. This pattern has an effect on the prevention of
cargo collapse, etc.
3
Backlash
compensation
(Note 2, 3)
Backlash compensation for reduction gear, etc.
This function stops the speed change temporarily during acceleration/deceleration, reducing a shock
generated when a reduction gear backlash is eliminated suddenly. Use Pr. 140 to Pr. 143 to set the
stopping times and stopping frequencies in accordance with the above diagrams.
Note: 1. For the acceleration/deceleration time, set the time required to reach the "base frequency" in
Pr. 3, not the "acceleration/deceleration reference frequency" in Pr. 20. For details, refer to Pr. 7 and
Pr. 8.
2. Pr. 140 to Pr. 143 is accessible when "3" is set in Pr. 29.
3. The acceleration/deceleration time is increased by the stopping time.
Pr. 3 "base frequency"
Pr. 7 "acceleration time"
Pr. 8 "deceleration time"
Pr. 20 "acceleration/deceleration
reference frequency"
Pr. 44 "second acceleration/
deceleration time"
Pr. 45 "second deceleration time"
Related parameters
4