Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
6-16 Revision April 2009
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-A and ASDA-A+ 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: Pr, 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 motor speed. (When
P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)
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