Speed Mode; Selection Of Speed Command - Delta ASD-A2R-0221 Series User Manual

6.3 Speed Mode

Speed control mode (S or Sz) is applicable in precision speed control, such as CNC
machine tools. This servo drive includes two types of command input, analog and register.
Analog command input can use external voltage to control the motor speed. There are two
methods in register input. One is used before operation. Users set different value of speed
command in three registers, and then use SP0, SP1 of CN1 DI signal for switching. Another
method is to change the value of register by communication. In order to deal with the
problem of non-continuous speed command when switching register, a complete S-curve
program is provided. In close-loop system, this servo drive adopts gain adjustment and
integrated PI controller and two modes (manual and auto) for selection.
Users can set all parameters and all auto or auxiliary function will be disabled in manual
mode. While in auto mode, it provides the function of load inertia estimation and parameter
adjustment. In auto mode, parameters which set by users will be regarded as the default
value.

6.3.1 Selection of Speed Command

There are two types of speed command source, analog voltage and internal parameters.
The selection is determined by CN1 DI signal. See as the followings.
Rotary Motor
Speed CN1 DI Signal
Command
SPD1
No.
S1 0
S2 0
S3 1
S4 1
Linear Motor
Speed CN1 DI Signal
Command
SPD1
No.
S1 0
S2 0
S3 1
S4 1
Revision December, 2014
Chapter 6 Control Mode of Operation ASDA-A2R Series
Command Source
SPD0
External
S analog
0 Mode command
Sz N/A
1
Register parameters
0
1
Command Source
SPD0
S
0 Mode
Sz
1
0 Register parameters
1
Content
Voltage deviation
between V-REF
and GND
Speed command
is 0
P1-09
P1-10
P1-11
Content
External Voltage deviation
analog between V-REF
command and GND
Speed command
N/A
P1-09
P1-10
P1-11
Range
-10 V ~ +10V
0
-60000 ~ 60000
-60000 ~ 60000
-60000 ~ 60000
Range
-10 V ~ +10V
0
is 0
-15999999 ~
15999999
-15999999 ~
15999999
-15999999 ~
15999999
6-15