Smooth Speed Command - Delta ASD-A2-0121 Series User Manual

ASDA-A2 Chapter 6 Control Mode of Operation
The upper path is the command from register while the lower one is external analog command.
The command is selected according to the status of SPD0, SPD1, and 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.
T (ms) signifies the operation time and S (r/min) signifies the absolute Speed command, which is
the absolute value of the initial speed minus the end speed.
Speed
Rated
Acceleration
Deceleration
speed
Time
0
(ms)
Torque
Time
0
(ms)
P1-36
P1-36
P1-34
2
2
P1-36 P1-36
P1-35
2
2
S-curve and Time setting
6-27