Smoothing Speed Command - Delta ASD-B2-1521-F User Manual

Chapter 6 Control Modes of Operation
Here firstly introduces the function of speed command unit. Its structure is as the following
diagram
.
Proportion
A/D Gain
P1-40
Analog signal
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of SPD0, SPD1 and P1-01
(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth resonance
of command.

6.3.3 Smoothing Speed Command

S-curve Filter
During the process of acceleration or deceleration, S-curve filter applies the program of
three-stage acceleration curve for smoothing the motion command, which generates the
continuous acceleration. It is for avoiding the jerk (the differentiation of acceleration) came
from the sudden command change and indirectly causes the resonance and noise. Users
can use acceleration constant of S-curve (TACC) to adjust the slope changed by
acceleration, deceleration constant of S-curve (TDEC) to adjust the slope changed by
deceleration and acceleration / deceleration constant of S-curve (TSL) to improve the
status of motor activation and stop. The calculation of the time to complete the command
is provided.
6-16
SPD0, SPD1 signal of CN1
Internal
parameter
P1-09
~P1-11
Analog Command
Filter
P1-59
S-curve Filter
Command
P1-34,
Selection
P1-35,
P1-01
P1-36
ASDA-B2
Low-pass Filter
P1-06
Revision May, 2018