Delta ASDA-A3 Series User Manual page 300

ASDA-A3
P1.036
Default: 0
Unit: ms
Format: DEC
Settings:
0: disable this function.
Acceleration / deceleration constant of S-curve:
Speed
TSL/2
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 / deceleration.
You can set P1.034, P1.035, and P1.036 individually. Even if you set P1.036 to 0, the acceleration /
deceleration still follows a trapezoid-curve.
Please note the following error compensation:
Smoothing function
for S-curve
Following error
compensation function
P1.037
Operation
Panel / software
interface:
Default: 6.0
Unit: 1 times
0.0 – 200.0 (rotary motor)*
Setting range:
0.0 – 1633 (linear motor)*
Format:
One decimal
Example:
1.5 = 1.5 times
Settings:
Inertia ratio to servo motor (rotary motor): (J_load / J_motor)
J_motor: rotor inertia of the servo motor
J_load: total equivalent inertia of external mechanical load
Note: Rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet
synchronous linear motor.
Revision December, 2017
S-curve acceleration / deceleration constant
TACC TSL/2
P1.036 = 0
Disable
Disable
Load inertia ratio and load weight ratio to servo motor
Control mode: PR / S / Sz
Setting range: 0 – 65500
Data size: 16-bit
TSL/2
P1.036 = 1
Disable
Enable
Communication Control mode: All
60 Data size:
-
0.1 times
0 – 2000 (rotary motor)*
0 – 1633 (linear motor)*
DEC -
15 = 1.5 times -
Parameters
Address: 0148H
0149H
Time
(ms)
TDEC TSL/2
P1.036 > 1
Enable
Determine by P2.068.X
Address: 014AH
014BH
16-bit
-
-
-
8
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