User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-7
6-2-4 P-curve Filter for Position Control
The P-curve filter is for the position smoothing of motion command. Using P-curve filter can run the servo
motor more smoothly in response to a sudden position command. Since the speed and acceleration curve
are both continuous and the time for the servo motor to accelerate is short, using P-curve filter not only can
improve the performance when servo motor accelerate or decelerate but also can make motor to operate
more smoothly (from mechanical view). When the load is change, the motor usually run not smoothly when
starts to run and stop due to the friction and inertia change. At this moment, users can increase Accel/Decel
P-curve constant (TSL), Accel time constant (TACC) and Decel time constant (TDEC) to improve the
performance. Because the speed and angle acceleration are continuous when position command is
changed to pulse signal input, so it is not needed to use P-curve filter.
Time
(
ms
)
TSL/2
TACC TSL/2
TSL/2
TACC
TSL/2
Position
Speed
Rated speed
To rq u e
Time
(
ms
)
Time
(
ms
)
P-curve characteristics and Time relationship
(
Acceleration
)