User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation

6-13

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. Delta 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 rotation speed of servo motor. There are two usage of internal parameter, one is

set different speed command in three speed control parameter before operation and then using SP0 and

SP1 of DI input of CN1 perform switching. The other usage is using serial communication to change the

setting value of parameter.

Beside, in order to make the servo motor and load can be operate more smoothly, Delta servo drive also

provide complete S-curve profile for speed control mode. In speed close loop, ASDA-A series servo drive

provides gain adjustment and accumulation integrated PI controller. Also, ASDA-A series servo drive

provides three modes of tuning technology (Manual/Auto/Easy) for users to select.

There are three turning modes for gain adjustment: Manual, Auto and Easy 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.

 Easy Mode: Robust for wide range of external load inertia change, with ten levels of system stiffness.

Using easy mode can immediately suppress the interference of external load and mechanical

resonance and also stand for the load inertia change.