Delta ASDA-A2 Series User Manual page 197

Chapter 6 Control Modes of Operation
TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36
is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that
the parameters P1-34 and P1-35 will not become disabled even when P1-36 is
disabled.
Tracking error compensation function:
This function is available in firmware version V1.036 sub00 and later models only.
Accel /Decel S-curve
Track error compensation
Please note:
1. When the source of speed command is analog command, the maximum setting
value of P1-36 is set to 0, the acceleration and deceleration function will be
disabled.
2. When the source of speed command is analog command, the maximum setting
value of P1-36 is limited to 10000 automatically.
Analog Speed Command S-curve Filter
ASDA-A2 series servo drives also provide Analog Speed Command S-curve Filter for the
smoothing in response to a sudden analog input signal.
Speed (rpm)
3000
0
1
-3000
The analog speed command S-curve filter is for the smoothing of analog input signal and
its function is the same as the S-curve filter. The speed and acceleration curve of analog
speed command S-curve filter are both continuous. The above figure shows the curve of
analog speed command S-curve filter and the users can see the ramp of speed command
is different during acceleration and deceleration. Also, the users can see the difference of
input command tracking and can adjust time setting by using parameter P1-34, P1-35, P1-
36 to improve the actual motor performance according to actual condition.
6-30
Function
Analog speed command
2 3 4
P1-36 = 0 P1-36 = 1
Disabled Disabled
Disabled Enabled
5 6 7
P1-36 > 1
Enabled
Determined by
P2-68 X settings
Motor Torque
Time (sec)
8 9
Revision September 2012