Smooth Speed Command - Delta ASD-A2R-0221 Series User Manual

Chapter 6 Control Mode of Operation ASDA-A2R Series

6.3.3 Smooth 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.
Related parameters: Please refer to Chapter 8 for further information.
Parameter Abbr.
P1-34
P1-35
P1-36
6-18
The relation between S-curve and time setting
TACC Acceleration Constant of S-Curve
TDEC Deceleration Constant of S-Curve
Acceleration / Deceleration Constant of
TSL
S-Curve
Function
Revision December, 2014