Structure Of Speed Control Mode - Delta ASD-B2-0121-B User Manual

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 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 range of internal parameters is within -50000 ~ +50000 r/min. Setting value =
Range x Unit (0.1 r/min). For example, if P1-09 is set to +30000, the setting value
= +30000 x 0.1 r/min = +3000 r/min.
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:
Revision June 2010
Chapter 6 Control Modes of Operation
6-11