Delta ASD-B2-0121-F, User Manual

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Control Mode of Operation ASDA-B2-F
6-10
September, 2015
6
6.3 Speed Mode
Speed control mode is applicable in situation which requires precise speed control, such as CNC
machine tools. The command input of ASDA-B2-F is register. Two ways are provided to use
register input. One is to set different values of speed command to the three registers before
operation, and use DI.SP0 and SP1 in CN1 for switching. The other one is to change the value of
register by communication. In order to deal with the problem of non-continuous speed command
when switching between registers, a complete S-curve is provided. In closed-loop system, this
servo drive adopts gain adjustment and integrated PI controller. Two operation modes (manual
and auto) are also available.
Users can set all the parameters in manual mode and all the auto or auxiliary functions will be
disabled. In auto mode,
it provides functions of load inertia estimation and parameter adjustment.
In auto mode, parameters set by users will be regarded as default values.
6.3.1 Selection of Speed Command
The source of speed command is from internal parameters. The selection is determined by DI
signal of CN1. See as the followings:
Speed
Command
CN1 DI Signal
Command Source Content Range
SPD1 SPD0
S1 0 0 Mode Sz N/A Speed command is 0 0
S2 0 1
Parameter of internal register
P1-09
-60000 ~ 60000
S3 1 0
P1-10
-60000 ~ 60000
S4 1 1 P1-11 -60000 ~ 60000

Status of SPD0 ~ SPD1: 0 means DI is OFF, 1 means DI is ON.

When SPD0 = SPD1 = 0, speed command is 0.

When one of SPD0 and SPD1 is not 0, the speed command source is the internal
parameter. The command is activated right after changing the status of SPD0 ~ SPD1.
There is no need to use CTRG as trigger.

The setting range of the internal parameters is between -60000 to 60000. Setting value =
Setting range x Unit (0.1r/min).
For example: P1-09 = +30000. Setting value = +30000 x 0.1r/min = +3000r/min
The speed command not only can be issued in speed mode, but also in torque mode as the
speed limit.