Delta ASDA-A3 Series User Manual page 640

ASDA-A3
Speed
P1.036
2
P1.034: sets the acceleration time for the trapezoid-curve.
P1.035: sets the deceleration time for the trapezoid-curve.
P1.036: sets the smoothing time for the S-curve acceleration and deceleration.
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.
Smoothing function for S-curve
Following error compensation function
P1.037
Operation
Panel / software
interface:
Default: 6.0
1 times (rotary)*
Unit:
1 kg (linear)*
0.0 to 200.0 (rotary)*
Setting range:
0.0 to 6553.5 (linear)*
Format: One decimal
Example: 1.5 = 1.5 times / kg
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 means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet synchronous
linear motor.
P1.036
P1.034
2
P1.036 = 0
Disabled
Disabled
Load inertia ratio or total weight
Communication
60
0.1 times (rotary)*
0.1 kg (linear)*
0 to 2000 (rotary)*
0 to 65535 (linear)*
DEC
15 = 1.5 times / kg
P1.036
P1.035
2
P1.036 = 1 P1.036 > 1
Disabled Enabled
Enabled Determined by P2.068.X
Address: 014AH
Control mode: PT / PR / S / Sz
Data size: 32-bit
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Parameters
8
Time
(ms)
P1.036
2
014BH
8-63