Delta ASD-A3-0121, User Manual

Page: 167 / 603

Operation Mode ASDA-A3
6-16
Revision December, 2017
6
6.3.3 Smooth Speed command
S-curve filter
During the process of acceleration or deceleration, the S-curve filter uses the three-stage
acceleration curve and creates a smoother motion trajectory. It avoids jerk (rapid change of
acceleration), resonance, and noise caused by abrupt speed variation. You can use the S-curve
acceleration constant (TACC) to adjust the slope of the change in acceleration; the S-curve
deceleration constant (TDEC) adjusts the slope of the change in deceleration; and the S-curve
acceleration / deceleration constant (TSL) improves the status of motor activating and stopping.
This can also calculate the total time for executing the command.
T (m) signifies the operation time and S (rpm) signifies the absolute Speed command, which is
the absolute value of the initial speed minus the end speed.
Rated speed
Speed
Time
(ms)
TSL/2 TSL/2
TSL/2 TSL/2
TACC
TDEC
Torque
Time
(ms)
0
0
Acceleration
Deceleration
Figure 6.3.3.1 S-curve and time setting
Relevant parameters: refer to Chapter 8 for more information.
Parameter Function
P1.034 S-curve acceleration constant
P1.035 S-curve deceleration constant
P1.036 S-curve acceleration / deceleration constant