User manual

Chapter 6 Control Modes of Operation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
6-16
6-3-3 Smoothing Strategy of Speed Control Mode
S-curve Filter
The S-curve filter is for the speed smoothing of motion command which provides 3 steps accel S-curve
smoothing strategy during acceleration and deceleration. Using S-curve filter can run the servo motor more
smoothly in response to a sudden speed command. Since the speed and acceleration curve are both
continuous, in order to avoid the mechanical resonance and noise may occur due to a sudden speed
command (differentiation of acceleration), using S-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 S-curve constant (TSL), Accel
time constant (TACC) and Decel time constant (TDEC) to improve the performance. ASDA-A series servo
drive also support the time calculation of completing speed command. T (ms) is the operation (running) time.
S (rpm) is absolute speed command, i.e. the absolute value (the result) after starting speed subtract final
speed.
0
TSL/2
TDEC
TSL/2
TSL/2
TACC
TSL/2
0
S-curve characteristics and Time relationship
Speed
Rated Speed
To rqu e
Acceleration
Deceleration
Relevant parameters:
P1 - 34 TACC
Acceleration Time Communication Addr.: 0122H
Default: 200 Applicable Control Mode: P/S
Range: 1~20000
Unit: msec
P1 - 35 TDEC
Deceleration Time Communication Addr.: 0123H
Default: 200 Applicable Control Mode: Pr/S
Range: 1~20000
Unit: msec