User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-15
6-3-2 Structure of Speed Control Mode
Basic Structure:
Speed command
Speed Command
Processing
Speed Control
Block Diagram
Resonant Suppression
Block Diagram
Tor qu e li mi t e r
Speed estimator
Current loop
In the above figure, the speed command processing is used to select the command source of speed
control according to chapter 6-3-1, including max. rotation speed of analog speed command selection
(parameter P1-40) and S-curve filter smoothing strategy of speed control. The speed control block
diagram is used to manage the gain parameters of the servo drive and calculate the current input provided
to motor instantaneously. The resonance suppression block diagram is used to suppress the resonance
of mechanical system.
The function and structure of speed command processing is shown as the figure below:
A/D
P1-09
~P1-11
P1-40
S-curve filter
P1-34,
P1-35,
P1-36
P1-01
P1-06
Analog command
filter
P1-34,
P1-35,
P1-36
SPD0,SPD1 signal of CN1
Analog signal
Command
selection
Low-pass
filter
(Command source:
Internal parameter)
(Command source:
External analog signal)
Internal
parameter
Proportion
Gain
The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend users to use S-curve and
low-pass filter.