Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation

ASDA-A2R Series
6-16 Revision December, 2014

Status of SPD0 ~ SPD1: 0 means DI OFF, 1 means DI ON.

When both SPD0 and SPD1 are 0, if it is in Sz mode, the command will be 0. Thus, if
there is no need to use analog voltage as the speed command, Sz mode can be
applied to tackle the problem of zero-drift. If it is in S mode, the command will be the
voltage deviation between V-REF and GND. The range of input voltage is between
-10V and +10V and its corresponding speed is adjustable (P1-40).

When one of SPD0 and SPD1 is not 0, the speed command is from the internal
parameter. The command is activated after changing the status of SPD0~SPD1.
There is no need to use CTRG for triggering.

The setting range of internal parameters for rotary motor is between -60000 and
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 setting range of internal parameters for linear motor is between -15999999 and
15999999. Setting value = setting range x unit (
6
10

m/s).
For example: P1-09 = +30000, setting value = +30000 x
6
10

m/s = +0.03m/s
The speed command not only can be issued in speed mode (S or Sz), but also in torque
mode (T or Tz) as the speed limit.
6.3.2 Control Structure of Speed Mode
The basic control structure is shown as the following diagram:
The speed command unit is to select speed command source according to Section 6.3.1,
including the scaling (P1-40) setting and S-curve setting. 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
mechanism. Detailed descriptions are shown as the following:
Here firstly introduces the function of speed command unit. Its structure is as the
following diagram.