Delta ASD-B2-0121-B, User Manual

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Chapter 6 Control Modes of Operation
6-10
Revision June 2010
6.3 Speed Control Mode
The speed control mode (S or Sz) is usually used on the applications of precision speed
control, such as CNC machine, etc. ASDA-B2 series servo drive supports two kinds of
command sources in speed control mode. One is external analog signal and the other is
internal parameter. The external analog signal is from external voltage input and it can
control the speed of servo motor. There are two usage of internal parameter, one is set
different speed command in three speed control parameters before operation and then using
SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial
communication to change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-B2 series servo
drive also provides complete S-curve profile for speed control mode. For the closed-loop
speed control, ASDA-B2 series servo drive provides gain adjustment function and an
integrated PI or PDFF controller. Besides, two modes of tuning technology (Manual/Auto) are
also provided for the users to select (parameter P2-32).
There are two turning modes for gain adjustment: Manual and Auto modes.
„
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and
auxiliary function will be disabled.
„
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten
levels of system bandwidth. The parameter set by user is default value.
6.3.1 Command Source of Speed Control Mode
Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
CN1 DI
signal
Speed
Comman
d
SPD1 SPD0
Command Source Content Range
S
External
analog
signal
Voltage between
V-REF-GND
+/-10 V
S1 0 0
Mod
e
Sz N/A
Speed command is
0
0
S2 0 1 P1-09
-50000 ~
50000
S3 1 0 P1-10
-50000 ~
50000
S4 1 1
Internal parameter
P1-11
-50000 ~
50000