Smooth Speed Command - Delta ASDA-M Series User Manual

Chapter 6 Control Mode of Operation
P1-01(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth
resonance of command.
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.
6-26
The relation between S-curve and time setting
ASDA-M
Revision December, 2014