Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation
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ASDA-A2R Series
6-6 Revision December, 2014
6.2.4 S-curve Filter (Position)
S-curve filter smoothes the motion command. With S-curve filter, the process of
acceleration becomes more continuous and the jerk will be smaller. It not only improves
the performance when motor accelerates / decelerates, but also smoothes the operation
of mechanical structure. When the load inertia increases, the operation of the motor will
be influenced by friction and inertia during the time of activation and stop. However, 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). When the position command source is pulse, its speed and angular
acceleration is continuous, thus, S-curve filter is not a must.