Delta Electronics ASDA-B Series Timing Chart of Speed Control Mode, Speed Loop Gain Adjustment

Chapter 6 Control Modes of OperationASDA-B Series

6.3.5 Timing Chart of Speed Control Mode

	S4 (P1-11)
Internal speed	S3 (P1-10)
command
	S2 (P1-09)
External analog		S1
voltage or zero (0)
		SPD0	OFF	ON	OFF	ON
External I/O signal		SPD1	OFF		ON
		SON	ON

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:

Speed Control Block Diagram

	Differentiator	Feed Forward					System inertia J
		Gain P2-07					(1+P1-37)*JM
				Proportional	+	+	+
+-
	Integrator	+	+	Gain P2-04			+
				Switching	P2-27		J_load /J_motor
				Rate P2-05			P1-37
	Proportional
	Gain P2-04						Motor
		Gain Switching
							Inertia JM
		Control Selection
				P2-27	Torque constant		Torque
				Current			Command
				Command	reciprocal 1/KT
				Low-pass		Speed Estimator		Encoder
				Filter P2-49

Revision January, 2009 6-15