Structure Of Speed Control Mode - Delta Electronics ASDA-A Series User Manual

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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 and
GND. The setting range of the input voltage is from -10V to +10V and the corresponding motor
speed is adjustable (Please see parameter P1-40).
When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter
(P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.
The speed command that is described in this section not only can be taken as speed command in
speed control mode (S or Sz mode) but also can be the speed limit input command in torque control
mode (T or Tz mode).

6.3.2 Structure of Speed Control Mode

Basic Structure:
In the figure above, the speed command processing is used to select the command source of speed
control according to chapter 6.3.1, including proportional gain (P1-40) and S-curve filter smoothing
strategy of speed control. The speed control block diagram is used to manage the gain parameters of
the servo drive and calculate the current input provided to motor instantaneously. The resonance
suppression block diagram is used to suppress the resonance of mechanical system.
The function and structure of speed command processing is shown as the figure below:
(Command source:
Internal parameter)
(Command source:
External analog signal)
The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve
and low-pass filter.
Revision April 2009
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Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
Internal
parameter
P1-09
~P1-11
Proportion
A/D Gain
P1-40
Analog signal
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SPD0,SPD1 signal of CN1
S-curve filter
P1-34,
P1-35,
P1-36
Analog command
Command
filter
selection
P1-34,
P1-35,
P1-01
P1-36
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Low-pass
filter
P1-06
6-15
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