S-Curve Filter (Position) - Delta ASDA-B2-F Series User Manual

Control Mode of Operation

6.2.2 S-curve Filter (Position)

S-curve filter smoothes the motion command. With S-curve filter, the speed and the process of
acceleration become more continuous and the jerk will be smaller. It not only improves the
performance when motor accelerates/decelerates, but also smoothes the mechanical operation.
6
If the load inertia increases, the operation of the motor will be influenced by friction and inertia
when it starts or stops the rotation. The situation can be improved by increasing the value of
acceleration/deceleration constant of S-curve (TSL), acceleration constant of S-curve (TACC)
and deceleration constant of S-curve (TDEC).
6-4
Position
Speed
Rated
Speed
Torque
TACC
TSL/2
The relation among S-curve, position and speed
Position
Speed
Rated
Speed
Torque
TACC
TSL/2
The relation among S-curve, position and speed
(deceleration of position command)
TSL/2
TSL/2
(acceleration of position command)
TSL/2
TSL/2
Time (ms)
Time (ms)
Time (ms)
TDEC
TSL/2
Time (ms)
Time (ms)
Time (ms)
TDEC
TSL/2
ASDA-B2-F
September, 2015