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APPENDIX
App. - 14
(2) Settling time (t
s
) during linear acceleration/deceleration
Since droop pulses still exist regardless of zero command pulse, settling time (t
s
) is required until the
servo motor stops.
Set the operation pattern in consideration for the settling time.
The settling time (t
s
) value is obtained according to equation 5.8.
t
s
≈ 3 • T
p
= 3 •
K
p
1
[s] ··············································································································· (5.8)
*When K
p
= 70 [rad/s], t
s
≈ 0.04 [s]. (above diagram)
The settling time (t
s
) indicates the time required for the servo motor to stop in the necessary positioning
accuracy range. This does not always mean that the servo motor has stopped completely. Thus,
especially when the servo motor is used in high-duty operation and positioning accuracy has no margin
for travel distance per pulse (∆l), the value obtained by equation 5.8 must be increased.
The settling time (t
s
) will vary with the moving part conditions. Especially when the load friction torque is
large, movement may be unstable near the stopping position.