Smooth Speed Command - Delta ASD-A2 Series User Manual

Chapter 6 Control Mode of Operation

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.
Related parameters:
P1-34 TACC Acceleration Constant of S-Curve
Operational
Interface：
Default： 200
Control
Mode：
Unit： ms
Range： 1 ~ 65500
Data Size： 16-bit
Format： Decimal
6-26
Panel / Software
S
Communication
ASDA-A2
Address: 0144H
0145H
Related Section:
6.3.3
Revision February, 2017