Lite-On Technology Corp.
Industrial Automation
164
7.3.3.
Smoothing of speed command
Smoothing of S-curve command
The command generator of S-curve smoothing for the speed adopts the planning of the three-phase
acceleration curve during acceleration and deceleration.
It enables smoothing of the motion control and
generates continuous acceleration to avoid excessive jerk (acceleration differentiation) due to rapid change
of the command entered. The jerk may stimulate the vibration and noise of the machinery structure. The user
may use the speed constant of S-curve acceleration (PB-03) to adjust the slope of speed change during
acceleration. The speed constant of S-curve deceleration (PB-04) is used to adjust the slope of speed change
during deceleration. The smoothing constant of S-curve acceleration and deceleration (PB-05) is used to
improve the stability during start and stop of motor.
The device provides the calculation for the time
required for the completion of command. T (ms) indicates the operating time. S (r/min) represents the
command of absolute speed, which is the absolute value calculated by subtracting the final speed from the
initial speed.
When PB-05 is set to 0, the command generator of S-curve smoothing is turned off. No
smoothing effect is available for the speed command at this moment.
Relevant parameters:
PB-03
STAC
Acceleration constant of the smooth S-
curve
Communication
address:
0106H
0107H
Initial value
200
Control mode
S
Unit
ms
Configuration range
1 ~ 20000
Data size
16bit
Data format
Dec
Constant for speed acceleration: As for PB-03, PB-04 and PB-05, the time required for
acceleration from 0 to 3000r/min can be set separately.
NOTE 1) If the source of the speed command is an analog source or PB-05 is set to 0, turn off the
smooth function for S-shaped acceleration-deceleration.
Proportioner
Register
Analog
smoother
Command
selection
signal
S-curve smoothing
Low-pass filter
