Control Structure Of Speed Mode - Delta ASDA-M Series User Manual

ASDA-M

The setting range of internal parameters is between -60000 and 60000. Setting
value = setting range x unit (0.1r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1r/min = +3000r/min
The speed command not only can be issued in speed mode (S or Sz), but also in torque
mode (T or Tz) as the speed limit.

6.3.2 Control Structure of Speed Mode

The basic control structure is shown as the following diagram:
Speed Command
Speed
Command
Processing
Speed control
The speed command unit is to select speed command source according to Section 6.3.1,
including the scaling (P1-40) setting and S-curve setting. The speed control unit
manages the gain parameters of the servo drive and calculates the current command for
servo motor in time. The resonance suppression unit is to suppress the resonance of
mechanism. Detailed descriptions are shown as the following:
Here firstly introduces the function of speed command unit. Its structure is as the
following diagram.
Internal Parameter
P1-09
~P1-11
Proportion
A/D
Gain
P1-40
Analog signal
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of SPD0, SPD1 and
Revision December, 2014
Speed
Estimator
Resonance
Torque Limit
Suppression
SPD0, SPD1 signal of CN1
S-curve Filter
P1-36
Analog Command
Filter
P1-59
Chapter 6 Control Mode of Operation
Current
Loop
Command
Low-pass Filter
Selection
P1-06
P1-01
Motor
6-25