Delta ASD-A3-0121, User Manual

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ASDA-A3 Operation Mode
Revision December, 2017
6-7
6
6.2.4 S-curve filter (Position)
The S-curve filter smoothes the motion command in PR mode. This filter makes speed and
acceleration continuous and reduces jerking, resulting in a smoother mechanical operation. If the
load inertia increases, the motor operation is influenced by friction and inertia when the motor
starts or stops rotating. Setting a larger acceleration / deceleration constant for the S-curve (TSL)
and for the acceleration / deceleration time in P5.020 – P5.035 can increase the smoothness of
operation. When the Position command source is pulse, the speed and angular acceleration are
continuous, and the S-curve filter is not necessary.
Speed
Position
Rated
speed
Torque
Time (ms)
AC0 ~ 15
TSL/2 TSL/2
TSL/2 TSL/2
Time (ms)
Position and S-curve speed and time setting
(Acceleration for position command)
AC0 ~ 15
Time (ms)
Speed
Position
Rated
speed
Torque
Time (ms)
Time (ms)
Time (ms)
AC0 ~ 15
TSL/2 TSL/2
TSL/2 TSL/2
Position and S-curve speed and time setting
(Deceleration for position command)
AC0 ~ 15
Relevant parameters: please refer to Chapter 8 for detailed descriptions.
Parameter Function
P1.036 S-curve acceleration / deceleration constant
P5.020 – P5.035 Acceleration / deceleration time (Number #0 – 15)