Delta ASD-A3-0121, User Manual

Page: 166 / 603

ASDA-A3 Operation Mode
Revision December, 2017
6-15
6

The parameter setting range (internal register) is -60000 – 60000.
Setting value = setting range x unit (0.1 rpm). For example, if P1.009 = +30000,
then rotation speed = +30000 x 0.1 rpm = +3000 rpm
You can use the Speed command in Speed mode (S or Sz) as well as in Torque mode (T or Tz)
to set the speed limit.
6.3.2 Control structure of Speed mode
The diagram of the basic control structure is shown in the following flowchart:
Speed command
Speed control
Speed
command
processing
Torque limit
Resonance
suppression
Speed
estimator
Motor
Current
loop
The Speed Command processing unit selects the command source (see Section 6.3.1),
including the scaling parameter (P1.040) for rotation speed and 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 introduce the function of Speed Command unit. Its structure is shown
below.
Analog signal
Command
selection
P1.001
Register
P1.009 ~ P1.011
Scaling
P1.040
S-curve filter
P1.036
Analog command
filter
P1.059
Low-pass filter
P1.006
A/D
SPD0 and SPD1 signal of CN1
Control in the upper path is from the register while the in lower path it is from the external analog
voltage. The command is selected according to the status of SPD0, SPD1 and P1.001 (S or Sz).
In this condition, the S-curve and low-pass filters are applied to achieve a smoother response.