Manual

Acceleration Ratio is controlled by changing the parameter value and any change in the acceleration
ratio is applied to the decceleration ratio by exactly the same amount. The default Acceleration
Ratio parameter shows a trapezoidal type speed profile.
Acceleration Ratio(RAM Register Address 8)
※ Increasing the acceleration ratio will lead to sudden change in speed accompanied by vibration as
shows in blue rectangle graph. Decreasing the ratio will show slow increase in speed with smooth
movement as in green triangle graph.
Controls maximum acceleration time, 1 is equaivalent to11.2ms.
Maximum acceleration time r(Maximum Acceleration Time) 254 is equivalent to 2.844sec.
Maximum Acceleration Time(RAM Register Address 9)
Controls the LEDs.
LED Control(RAM Address 53)
※ When r(Maximum Acceleration Time) is 0, velocity Profile is rectangle.
※ r(Current Control Mode) defaults to Position Control(0) when servo is first powered on
※ Control commands will only function when Torque On is enabled (I_JOG, S_JOG)
※ Control commands will not function when Break On is enabled (I_JOG, S_JOG)
※ Joints can be manually manipulated when Torque Free is enabled
Controls Torque eanable states
0x40 : Break On
0x60 : Torque On
0x00 : Torque Free
When the torque is enabled, it’s mode depends on "Current Control Mode". If the servo was on Position
Control Mode when Torque ON is enabled, it will remain in that mode.
Torque Control(RAM Register Address 52)
When Bit value below is 1 = On, 0 = Off
0x01 : Green
시간
Velocity
Play Time
Acceleration Time Deceleration
30