Speed Control Mode; Command Source Of Speed Control Mode - Delta ASDA-A2 Series User Manual

Chapter 6 Control Modes of Operation|ASDA-A2 Series
6.3

Speed Control Mode

The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as
CNC machine, etc. ASDA-A2 series servo drives support two kinds of command sources in speed control
mode. One is external analog signal and the other is internal parameter. The external analog signal is from
external voltage input and it can control the speed of servo motor. There are two usage of internal
parameter, one is set different speed command in three speed control parameters before operation and
then using SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial
communication to change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-A2 series servo drives also
provide complete S-curve profile for speed control mode. For the closed-loop speed control, ASDA-A2
series servo drives provide gain adjustment function and an integrated PI or PDFF controller. Besides, two
modes of tuning technology (Manual/Auto) are also provided for the users to select (parameter P2-32).
There are two turning modes for gain adjustment: Manual and Auto modes.
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value.

6.3.1 Command Source of Speed Control Mode

Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
CN1 DI signal
Speed
Command
SPD1
S1
S2
S3
S4
State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the
speed command is 0. Therefore, if the users do not use analog voltage as speed command,
the users can choose Sz mode and avoid the zero point drift problem of analog voltage signal.
If the speed control mode is S mode, then the command is the analog voltage between V-REF
6-22
Command Source
SPD0
0 0 Mode
0 1
1 0 Internal parameter
1 1
External Voltage between
S
analog signal V-REF-GND
Speed command
Sz N/A
is 0
Content Range
-10 V ~ +10V
0
P1-09
-60000 ~ +60000
P1-10
r/min
P1-11
Revision April,2010