Smoothing Strategy Of Speed Control Mode - Delta Electronics ASDA-B2 series User Manual

ASDA-B2

6.3.3 Smoothing Strategy of Speed Control Mode

S-curve Filter
The S-curve filter is a speed smoothing command which provides 3 steps accel / decel
S-curve to smooth the speed command change of the motor during acceleration and
deceleration. Using S-curve filter can let the servo motor run more smoothly in
response to a sudden speed command change. Since the speed and acceleration
curve are both continuous, in order to avoid the mechanical resonance and noise may
occur due to a sudden speed command (differentiation of acceleration), using S-curve
filter not only can improve the performance when servo motor accelerate or decelerate
but also can make the motor run more smoothly. S-curve filter parameters include P1-
34 Acceleration Time (TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-
curve (TSL), and the users can use these three parameters to improve the motor
performance during acceleration, deceleration and operation. ASDA-B2 series servo
drives also support the time calculation of completing speed command. T (ms) is the
operation (running) time. S (r/min) is absolute speed command, i.e. the absolute value
(the result) after starting speed subtracts the final speed.
Relevant parameters:
P1-34 TACC Acceleration Time
Operation
Interface:
Default: 200
Control
Mode:
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Revision September 2013
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VARITEL INGENIERIA ELECTRONICA S.A.
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Chapter 6 Control Modes of Operation
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Related Section:
Section 6.3.3
6-15