Delta ASD-A3-0121, User Manual

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Operation Mode ASDA-A3
6-14
Revision December, 2017
6
6.3 Speed mode
This servo drive includes two types of command inputs: analog and internal register
(parameters). The Analog command controls the motor speed by scaled external voltage input.
The command register input controls the speed in two ways. The first is to set different speed
values in three command registers and then switch the speed by using DI.SPD0 and DI.SPD1 for
CN1. The second is to change the value in the register by communication. In order to deal with
the problem of non-continuous speed when switching registers, you can use the S-curve
acceleration / deceleration filter. In a closed-loop system, the servo drive uses gain adjustment,
the integrated PI controller, and the two modes (Manual and Auto).
You use Manual mode to manually set the parameters. In this mode, all auto or auxiliary function
are disabled. The gain adjustment function provides different modes for you to estimate load
inertia and tune the bandwidth as well as the responsiveness. In addition, the parameter values
you set are regarded as the default values.
6.3.1 Selecting the Speed command source
There are two types of Speed command sources: analog voltage and internal register
(parameters). You can select the source by using DI signal for CN1. See the following table for
the command source selection:
Speed
command
CN1 DI signal
Command source Content Range
SPD1 SPD0
S1 0 0 Mode S
External analog
signal
Voltage difference
between V-REF and
GND
-10V to +10V
Sz N/A Speed command is 0 0
S2 0 1
Register parameters
P1.009 -60000 – 60000
S3 1 0 P1.010 -60000 – 60000
S4 1 1 P1.011 -60000 – 60000

Status of SPD0 – SPD1: 0 means that DI is off; 1 means that DI is on.

When both SPD0 and SPD1 are 0, if in Sz mode, the command is 0. Thus, if the Speed
command using analog voltage type is not required, you can use Sz mode to address the
problem of zero drift in the voltage. If it is in S mode, the command is the voltage deviation
between V-REF and GND. The range of the input voltage is between -10V and +10V and
you can adjust the corresponding speed (P1.040).

When either one of SPD0 and SPD1 is not 0, the Speed command comes from the internal
register. The command is activated once the status of SPD0 – SPD1 is changed. There is
no need to use CTRG for triggering.