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We propose a new method for transient-error-free AC voltage waveform synthesis using a programmable Josephson voltage standard (PJVS) array. Stepwise-approximated sinusoidal waveforms generated using PJVS can be potential tools for AC voltage calibration or related applications. However, the transient error caused by the transitions between quantized voltage steps is a crucial problem for some applications. By driving a PJVS array using high-speed periodical pulse packets and conventional DC biases, the influence of the transitions can essentially be eliminated. This paper describes the basic idea of our new method for driving a PJVS array.