3.5 Running the Motor Smoothly1153.5.2 Using the Smoothing Function1) The smoothing function adjusts constant-frequency reference input inside the Servo-pack so that acceleration and deceleration can be as constant as possible. To use thisfunction, set the following user constant.Cn-26ACCTME Position ReferenceAcceleration/DecelerationTime Constant(Smoothing)Unit:0.1 msSettingRange:0 to 640FactorySetting:0ForPositionControlOnlyThis user constant is used for position controlonly.This function performs acceleration/decelerationprocessing for input reference pulses (primary lagcharacteristics).This function prevents the motor from running atprogressive speeds in the following cases:• When the host controller which outputs refer-ences cannot perform acceleration/decelera-tion processing• When reference pulse frequency is too low• When reference electronic gear ratio is too high (more than 10 times)This function does not change the travel distance (number of pulses).3.5.3 Adjusting Gain1) If speed loop gain or position loop gain exceeds the allowable limit for the servo systemincluding the machine to be controlled, the system will vibrate or become too susceptible.Under such conditions, smooth operation cannot be expected. Reduce each loop gainvalue to an appropriate value.2) For servo gain adjustment, refer to the following section:3.6.2 Setting Servo Gain3PositionsReferencepulseServopackAccel/decelServomotorReferencepulsefrequency Apply acceleration/decelerationprocessingReferencepulsefrequencyCn-26 (ACCTME)
