S-Curve Filter (Position) - Delta ASD-A2-0121 Series User Manual

ASDA-A2
Pulse Command Inhibit Input Function (INHP)
Use DI to select INHP (Refer to P2-10 to P2-17 and Table 8.1 INHP (45)) before using this function.
If not, this function will be unable to use. When DI (INHP) is ON, the pulse command will be
cleared in position control mode and the motor will stop running. (Only DI8 supports this function.)

6.2.4 S-curve Filter (Position)

S-curve filter smoothes the motion command. With S-curve filter, the process of acceleration
becomes more continuous and the jerk will be smaller. It not only improves the performance when
the motor accelerates or decelerates, but also smoothes the operation of mechanical structure.
When the load inertia increases, the operation of the motor will be influenced by friction and inertia
during the time of activation and stop. However, 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). When the position command source is
pulse, its speed and angular acceleration is continuous. Thus, S-curve filter is not a must.
position
speed
rated
speed
torque
Position and speed S-curve and time setting (acceleration for position command)
INHP
ON
Pulse
command
AC0 ~ 15
P1-36 P1-36
2 2
Chapter 6 Control Mode of Operation
ON
OFF
AC0 ~ 15
P1-36
P1-36
2 2
time (ms)
time (ms)
time (ms)
6-9