Delta Electronics none manual Structure of Speed Control Mode

Chapter 6 Control Modes of OperationASDA-AB Series

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 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:

(Command source: Internal parameter)

(Command source: External analog signal)

				Internal			S-curve filter
		parameter						P1-34,
					P1-09
								P1-35,
				~P1-11				P1-36
	Proportion					Analog command
									filter
A/D				Gain				P1-34,
			P1-40					P1-35,
								P1-36

SPD0,SPD1 signal of CN1

Command			Low-pass
	selection				filter
		P1-01		P1-06

Analog signal

The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz). Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve and low-pass filter.

6-14 Revision March 2008, Doc. Name: 2007PDD23000011