Smooth Speed Command - Delta ASDA-B2-F Series User Manual

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 continuous
6
acceleration. It is for avoiding the jerk (the differentiation of acceleration) of sudden command
change which further causes mechanical vibration and noise. Users can use acceleration
constant of S-curve (TACC) to adjust the slope change during acceleration, deceleration
constant of S-curve (TDEC) to adjust the slope change during deceleration and
acceleration/deceleration constant of S-curve (TSL) to improve the status of motor when it
starts/stops operating. The calculation of the time to complete the command is provided. T (ms)
stands for operation time; S (r/min) means the absolute speed command which is the absolute
value of the difference between initial speed and final speed.
Rated
speed
Relevant Parameters (Please refer to Chapter 7 for detailed description):
Parameter
6-12
Speed
Acceleration
0
Torque
0
TSL/2 TACC
The relation between S-curve and speed
Abbr.
P1-34 TACC Acceleration Constant of S-Curve
P1-35 TDEC Deceleration Constant of S-Curve
P1-36 TSL Acceleration/Deceleration Constant of S-Curve
P1-28 VSG2 Low-frequency Vibration Suppression Gain (2)
TSL/2
TSL/2
Function
ASDA-B2-F
Deceleration
Time
(ms)
Time
(ms)
TDEC TSL/2
September, 2015