Control Structure Of Speed Mode - Delta ASDA-B3 Series User Manual

Operation Mode

6.3.2 Control structure of Speed mode

The basic control structure is shown in the following flowchart.
6
Speed command
Speed
command
processing unit
Speed control
unit
The Speed command processing unit selects the command source (see Section 6.3.1),
including the scaling parameter (P1.040) for maximum rotation speed corresponding to the
analog voltage and the S-curve parameter for smoothing the speed. The Speed control unit
manages the gain parameters for the servo drive and calculates the current command for servo
motor in real-time. The Resonance suppression unit suppresses the resonance of the machine.
The following diagram introduces the function of Speed command processing unit. Its structure
is shown as follows.
A/D
Analog signal
The upper path is the command from the register and the lower one is the command from the
external analog voltage that you can select with the status of SPD0 and SPD1, and P1.001
(S or Sz). In this condition, the S-curve and low-pass filters are applied to achieve a smoother
response.
6-16
Resonance
suppression unit
Register
S-curve filter
P1.009 -
P1.036
P1.011
S-curve filter for
Scaling analog
P1.040 commands
P1.059
Speed
estimator
Current
Torque limit
SPD0 and SPD1 signals of CN1
Command
selection
P1.001
ASDA-B3
Motor
loop
Low-pass filter
P1.006