Delta Electronics none manual Smoothing Strategy of Speed Control Mode, Curve Filter

Chapter 6 Control Modes of OperationASDA-AB Series

6.3.3 Smoothing Strategy of Speed Control Mode

S-curve Filter

The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the speed command change of the motor during acceleration and deceleration. Using S-curve filter can let the servo motor run more smoothly in response to a sudden speed command change. 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 the motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time (TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can use these three parameters to improve the motor performance during acceleration, deceleration and operation. ASDA-AB series servo drives also support the time calculation of completing speed command. T (ms) is the operation (running) time. S (r/min) is absolute speed command, i.e. the absolute value (the result) after starting speed subtracts the final speed.

Relevant parameters:

P1 - 34

TACC

Acceleration Time

Communication Addr.: 0122H

Default: 200	Related Section:
Applicable Control Mode: P/S	P1-35, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step Acceleration time.

It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

Revision March 2008, Doc. Name: 2007PDD23000011 6-15