Delta ASD-B2-0121-F, User Manual

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Control Mode of Operation ASDA-B2-F
6-4
September, 2015
6
6.2.2 S-curve Filter (Position)
S-curve filter smoothes the motion command. With S-curve filter, the speed and the process of
acceleration become more continuous and the jerk will be smaller. It not only improves the
performance when motor accelerates/decelerates, but also smoothes the mechanical operation.
If the load inertia increases, the operation of the motor will be influenced by friction and inertia
when it starts or stops the rotation. The situation can be improved by increasing the value of
acceleration/deceleration constant of S-curve (TSL), acceleration constant of S-curve (TACC)
and deceleration constant of S-curve (TDEC).
Speed
Position
Rated
Speed
Torque
Time (ms)
TACC
TSL/2 TSL/2
TDEC
TSL/2 TSL/2
Time (ms)
Time
(ms)
The relation among S-curve, position and speed
(acceleration of position command)
Speed
Position
Rated
Speed
Torque
Time (ms)
Time (ms)
Time (ms)
TACC
TSL/2 TSL/2
TDEC
TSL/2 TSL/2
The relation among S-curve, position and speed
(deceleration of position command)