Structure Of Speed Control Mode - Delta ASDA-A2 Series User Manual

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 -60000 ~ +60000 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 April, 2010
Chapter 6 Control Modes of Operation|ASDA-A2 Series
6-23