Speed Mode; Selection Of Speed Mode - Delta ASD-A2-0121 Series User Manual

ASDA-A2
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 the CN1 DI signals, SP0 and SP1, for switching. The other 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.
In manual mode, users can set all parameters and all auto or auxiliary functions will be disabled.
While in auto mode, it provides the functions of load inertia estimation and parameter adjustment.
Meanwhile, parameters set by users will be regarded as the default value.

6.3.1 Selection of Speed Mode

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.
CN1 DI signal
Speed
Command
SPD1
S1
S2
S3
S4
Status of SPD0 - SPD1: 0 means DI is OFF, 1 means DI is ON.

When both SPD0 and SPD1 are 0, if it is in Sz mode, the command will be 0. Thus, if there

is no need to use analog voltage as the speed command, Sz mode can be applied to tackle
the problem of zero-drift. If it is in S mode, the command will be the voltage difference
between V-REF and GND. The range of input voltage is between -10V and +10V, and its
corresponding speed is adjustable (P1-40).
When one of SPD0 and SPD1 is not 0, the speed command is from the internal parameter.

The command is activated after changing the status of SPD0 - SPD1. There is no need to
Command Source
SPD0
0 0 Mode
0 1
1 0 Register parameters
1 1
External Voltage difference
S analog between V-REF
signal and GND
Speed command is
Sz N/A
0
Chapter 6 Control Mode of Operation
Content Range
-10V ~ +10V
P1-09
P1-10 -60000 ~ 60000
P1-11
0
6-25