Timing Chart Of Speed Control Mode; Speed Loop Gain Adjustment - Delta Electronics ASDA-B Series User Manual

6.3.5 Timing Chart of Speed Control Mode

Internal speed
command
External analog
voltage or zero (0)
External I/O signal
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the
speed command S1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of SPD0~1.

6.3.6 Speed Loop Gain Adjustment

The function and structure of speed control mode is shown as the figure shown below:
Differentiator
+
-
Integrator
Proportional
Gain P2-04
Revision January, 2009
S4 (P1-11)
S3 (P1-10)
S2 (P1-09)
S1
SPD0
SPD1
SON
Speed Control Block Diagram
Feed Forward
Gain P2-07
Proportional
Gain P2-04
+
+
Switching
Rate P2-05
Gain Switching
Control Selection
P2-27
Current
Command
Low-pass
Filter P2-49
Chapter 6 Control Modes of Operation|ASDA-B Series
OFF
ON
OFF
ON
+
+
J_load /J_motor
P2-27
Torque constant
reciprocal 1/KT
Speed Estimator
OFF
ON
ON
System inertia J
(1+P1-37)*JM
+
+
P1-37
Motor
Inertia JM
Torque
Command
Encoder
6-15