Control Structure Of Speed Mode - Delta ASD-B2-1521-F User Manual

ASDA-B2
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 use CTRG for triggering.
The setting range of internal parameters is between -50000 and 50000. 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
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:
Revision May, 2018
Speed
Estimator
Resonance
Torque Limit
Suppression
Chapter 6 Control Modes of Operation
Current
Motor
Loop
6-15