S-Curve Filter For Position Commands - Delta ASDA-B3 Series User Manual

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The upper path of the above diagram is the PR mode and the lower one is the PT mode that

you can select with P1.001. You can set the E-Gear ratio in both modes to adjust the positioning

resolution. In addition, you can use either a moving filter or low-pass filter to smooth the

command (described as follows).

The Pulse Command Input Inhibit (INHP) function

In PT mode, when DI.INHP is on, the servo drive stops receiving external pulse commands and

the motor stops running. As this function is only supported by DI4, setting P2.017 (DI4) to 0x45

(DI.INHP) is required.

6.2.4 S-curve filter for Position commands

The S-curve filter for Position commands smoothes the motion command in PR mode. The filter

makes the speed and acceleration continuous and reduces jerking, resulting in a smoother

mechanical operation. If the load inertia increases, the motor operation is influenced by friction

and inertia when the motor starts or stops rotating. Setting a larger acceleration / deceleration

constant for the S-curve (P1.036) and the acceleration / deceleration time in P5.020 - P5.035 can

increase the smoothness of operation. When the Position command source is pulse, the speed

and angular acceleration are continuous, so the S-curve command filter is not necessary.

Position and S-curve speed and time setting (incremental position command)

Operation Mode

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