Delta ASD-B2-0121-F, User Manual

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ASDA-B2-F Control Mode of Operation
September, 2015
6-11
6
6.3.2 Control Structure of Speed Mode
Speed Command
Speed Control Unit
Speed
Command
Processing Unit
Torque Limit
Resonance
Suppression Unit
Speed
Estimator
Motor
Current
Loop
Figure 6-5 Basic Control Structure of Speed Mode
The speed command processing unit is to select speed command source according to Section
6.3.1, including the S-curve setting for smoothing speed command. The speed control unit
manages the gain parameters of the servo drive and calculates the current command for servo
motor in time. The resonance suppression unit is to suppress the resonance of the mechanism.
Here firstly introduce the function of speed command processing unit. Its structure is as the
following figure:
Command
Selection
P1-01
Register
P1-09
~ P1-11
S-curve Filter
P1-36
Low-pass Filter
P1-06
SPD0 and SPD1 Signal of
CN1
Figure 6-6 Structure of Speed Command
Usually, S-curve and low-pass filters are applied for having a smooth response of command.