Delta ASDA-A3 Series User Manual page 419

Parameters
P1.034: set the acceleration time for the trapezoid-curve.
P1.035: set the deceleration time for the trapezoid-curve.
P1.036: set the smoothing time for the S-curve acceleration and deceleration.
8
You can set P1.034, P1.035, and P1.036 individually. Even if you set P1.036 to 0, the acceleration and
deceleration still follow a trapezoid-curve.
Note the following error compensation:
Smoothing function
for S-curve
Following error
compensation function
P1.037
Operation
interface:
Default:
Unit:
Setting range:
Format:
Example:
Settings:
Rotary motor load inertia ratio (J_load / J_motor) or total weight of linear motor mover and load (M_motor
+ M_load).
J_motor: rotor inertia of the servo motor
J_load: total equivalent inertia of external mechanical load
M_motor: weight of the linear motor mover
M_load: total equivalent weight of external mechanical load
Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet
synchronous linear motor.
P1.038
Operation
interface:
Default:
Unit:
Setting range: 0.0 - 200.0
Format:
Example:
8-46
P1.036 = 0
Disable
Disable
Load inertia ratio or total weight
Panel / software
6.0
1 times (rotary motor)*
kg (linear motor)*
0.0 - 200.0 (rotary motor)*
0.0 - 6553.5 (linear
motor)*
One decimal
1.5 = 1.5 times / kg
Zero speed range
Panel / software Communication
10.0 100
1 rpm
0.1 rpm
0 - 2000
DEC
One decimal
15 = 1.5 rpm
1.5 = 1.5 rpm
P1.036 = 1
Disable
Determined by
Enable
Communication Control mode: All
60 Data size:
0.1 times (rotary
motor)*
0.1 kg (linear
motor)*
0 - 2000 (rotary motor)*
0 - 65535 (linear motor)*
DEC
15 = 1.5 times / kg
Control mode: All
Data size:
-
-
-
-
P1.036 > 1
Enable
P2.068.X
Address: 014AH
014BH
32-bit
- -
- -
- -
Address: 014CH
014DH
16-bit
-
-
-
-
ASDA-A3