Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 257
Chapter 10 Modes of Operation
Speed Mode
These filters are used in Speed mode.
S-curve Filter (Speed Mode)
During acceleration or deceleration, the S-curve filter applies the three-stage
acceleration curve and tailors a smoother motion trajectory. It is used to avoid
jerk (the differentiation of acceleration), resonance as well as noise caused by
abrupt speed variation. You can use the parameter ID141 (P1.034), Acceleration
Time Constant of S-Curve Velocity Profile (TACC), to adjust the slope changed
by acceleration; the parameter ID142 (P1.035), Deceleration Time Constant of
S-curve Velocity Profile (TDEC), to adjust the slope changed by deceleration,
and the parameter ID143 (P1.036), Smoothing Time of S-curve (TSL), to
improve the status of motor activation and stop. The drive can calculate the
total time for executing the command.
T (ms) signifies the operation time and S (rpm) signifies the absolute speed
command, which is the absolute value of initial speed minus end speed.
IMPORTANT
These three parameters can be set individually and even when the
parameter ID143 (P1.036), Smoothing Time of S-curve, is set to 0
(disabled), the S-curve still has acceleration/deceleration of a
trapezoidal profile.
Error Compensation Function
When ID143
(P1.036) = 0
When ID143
(P1.036) = 1
When ID143
(P1.036) >1
Smoothing function of S-curve Disable Disable Enable
Following error compensation function Disable Enable
Determine by ID 241
(P2.068.X)
(1)
(1) For ID241 (P2.068) following error compensation, 0: Disable or 1: Enable.
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