Delta ASD-B2-0121-F, User Manual

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Control Mode of Operation ASDA-B2-F
6-12
September, 2015
6
6.3.3 Smooth Speed Command
S-curve Filter
During the process of acceleration or deceleration, S-curve filter applies the program of
three-stage acceleration curve for smoothing the motion command, which generates continuous
acceleration.
It is for avoiding the jerk (the differentiation of acceleration) of sudden command
change which further causes mechanical vibration and noise. Users can use acceleration
constant of S-curve (TACC) to adjust the slope change during acceleration, deceleration
constant of S-curve (TDEC) to adjust the slope change during deceleration and
acceleration/deceleration constant of S-curve (TSL) to improve the status of motor when it
starts/stops operating. The calculation of the time to complete the command is provided. T (ms)
stands for operation time; S (r/min) means the absolute speed command which is the absolute
value of the difference between initial speed and final speed.
Rated
speed
Speed
Time
(ms)
TSL/2 TSL/2
TSL/2 TSL/2
TACC
TDEC
Torque
Time
(ms)
0
0
Acceleration Deceleration
The relation between S-curve and speed
Relevant Parameters (Please refer to Chapter 7 for detailed description):
Parameter Abbr. Function
P1-34 TACC Acceleration Constant of S-Curve
P1-35 TDEC Deceleration Constant of S-Curve
P1-36 TSL Acceleration/Deceleration Constant of S-Curve
P1-28 VSG2 Low-frequency Vibration Suppression Gain (2)