Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
213
Modes of Operation
Chapter 10
S-curve Filter (Speed Mode)
During the process of acceleration or deceleration, S-curve filter applies the three-
stage acceleration curve and tailors a smoother motion trajectory performance. It
is used to avoid jerk (the differentiation of acceleration), resonance as well as
noise caused by abrupt speed variation. You can use the parameter ID141
(P1.034), Acceleration Time Constant of S-Curve Velocity Profile (TACC), to
adjust the slope changed by acceleration; the parameter ID142 (P1.035),
Deceleration Time Constant of S-curve Velocity Profile (TDEC), to adjust the
slope changed by deceleration, and the parameter ID143 (P1.036), Smoothing
Time of S-curve (TSL), to improve the status of motor activation and stop. This
device can calculate the total time for executing the command.
T (ms) signifies the operation time and S (rpm) signifies the absolute speed
command, which is the absolute value of initial speed minus end speed.
Analog Speed Command Filter
Analog speed command filter provided by the drive helps to stabilize the motor
operation when the analog input signal (speed) changes rapidly.
IMPORTANT
These three parameters can be set individually and even when the parameter
ID143 (P1.036), Smoothing Time of S-curve, is set to 0 (disabled), the S-curve
still has acceleration/deceleration of a trapezoid curve.
Error Compensation Function
When ID143
(P1.036) = 0
When ID143
(P1.036) = 1
When ID143
(P1.036) >1
Smoothing function of S-curve
Disable
Disable
Enable
Following error compensation function
Disable
Enable
Determine by P2.068.X
(1)
(1) For ID241 (P2.068) following error compensation, 0: Disable or 1: Enable.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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