Control Structure Of Speed Mode - Delta ASD-A2-0121 Series User Manual

Chapter 6 Control Mode of Operation
use CTRG for triggering.
The setting range of internal parameters is between -60000 and 60000.

Setting value = setting range x unit (0.1 r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1 r/min = +3000 r/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
Unit
Speed Control
Unit
The speed command processing 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 processing unit. Its structure is as the
following diagram.
Register
P1-09 ~ P1-11
Scaling
A/D
P1-40
Analog signal
6-26
Speed
Estimator
Resonance
Torque Limit
Suppression
Unit
S-curve Filter
P1-36
Analog Command
Filter
P1-59
Current
Loop
SPD0, SPD1 signal of CN1
Command
Selection
P1-01
ASDA-A2
Motor
Low-pass Filter
P1-06