Delta Electronics AC Servo Drive ASDA-B - Manual (Page 124)

Chapter 6 Control Modes of Operation|ASDA-B Series
Revision February 2008, Doc. Name: 2006PDD23000009 6-9
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. ASDA-B series 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 speed of servo motor. There are two usage of internal parameter,
one is set different speed command in three speed control parameters before operation and then using SP0
and SP1 of CN1 DI signal perform switching. The other usage is using serial communication to change the
setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-B series servo drive also
provides complete S-curve profile for speed control mode. For the closed-loop speed control, ASDA-B series
servo drive provides gain adjustment function and an integrated PI or PDFF controller. Besides, two modes
of tuning technology (Manual/Auto) are also provided for the users to select (parameter P2-32).
6.3.1 Command Source of Speed Control Mode
Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
CN1 DI signal
Speed
Command
SPD1 SPD0
Command Source Content Range
S
External analog
signal Voltage between V-
REF-GND
+/-10 V
S1 0 0 Mode
Sz N/A
Speed command is
0
0
S2 0 1 P1-09 +/-5000 rpm
S3 1 0 P1-10 +/-5000 rpm
S4 1 1
Internal parameter
P1-11 +/-5000 rpm
Table 6.C
„ State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
„ When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the
speed command is 0. Therefore, if the users do not use analog voltage as speed command, the
users can choose Sz mode and avoid the zero point drift problem (Note1) of analog voltage signal.
If the speed control mode is S mode, then the command is the analog voltage between V-REF
and GND. The setting range of the input voltage is from -10V to +10V and the corresponding
motor speed is adjustable (Please see parameter P1-40).
„ When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter
(P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.
The speed command that is described in this section not only can be taken as speed command in
speed control mode (S or Sz mode) but also can be the speed limit input command in torque control
mode (T or Tz mode).