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5.4.2.3 Speed Control 2 (ASR)
Fig. 5.4.4 shows the speed control 2 (ASR) block diagram.
The speed control circuit receives the speed reference signal SP_R and the speed feedback signals at the
weight rate of 25000 counts/100% and the deviation of these two proportional calculation outputs, and the
integral calculation result of the deviation of these two signals are output. This control operation works when
$FLG_ASR=1 is set. The control response is made with the following parameter settings.
$ASR_P_CMD:
Speed reference proportional gain
$ASR_P_FBK:
Speed feedback proportional gain
$ASR_I:
Integral gain
Target response x 0.5 is normally set.
$ASR_ERR_MAX: Error deadband max. value
$ASR_ERR_MIN:
Error deadband min. value
These are used when the speed control error deadband
detection is used to select the tension control & the
speed control 2 (ASR) in the torque control mode.
$ASR_W0:
Speed control response
gain
Target response x 2 is normally set.
$ASR_J0:
Speed control inertia gain
When the machine’s GD
2
is much larger than the motor’s GD
2
or if the shaft resonance occurs, control response
may not be improved to higher level.
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