Delta ASDA-B2-F Series User Manual

Contents

Control Mode of Operation ASDA-B2-F6-12 September, 201566.3.3 Smooth Speed CommandS-curve FilterDuring the process of acceleration or deceleration, S-curve filter applies the program ofthree-stage acceleration curve for smoothing the motion command, which generates continuousacceleration. It is for avoiding the jerk (the differentiation of acceleration) of sudden commandchange which further causes mechanical vibration and noise. Users can use accelerationconstant of S-curve (TACC) to adjust the slope change during acceleration, decelerationconstant of S-curve (TDEC) to adjust the slope change during deceleration andacceleration/deceleration constant of S-curve (TSL) to improve the status of motor when itstarts/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 absolutevalue of the difference between initial speed and final speed.RatedspeedSpeedTime(ms)TSL/2 TSL/2TSL/2 TSL/2TACCTDECTorqueTime(ms)00Acceleration DecelerationThe relation between S-curve and speedRelevant Parameters (Please refer to Chapter 7 for detailed description):Parameter Abbr. FunctionP1-34 TACC Acceleration Constant of S-CurveP1-35 TDEC Deceleration Constant of S-CurveP1-36 TSL Acceleration/Deceleration Constant of S-CurveP1-28 VSG2 Low-frequency Vibration Suppression Gain (2)