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ASDA-A3

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Control Mode

6.3 Speed mode

There are two kinds of command sources: analog input and internal register (parameters).

The analog command controls the motor speed by scaled external voltage input. The command

register input controls the speed in two ways. Set different speed values in three command

registers before operation. Then, you can switch the speed settings through communication or

with DI.SPD0 and DI.SPD1 of CN1. To deal with the problem of non-continuous speed when

switching registers, you can use the S-curve acceleration and deceleration filter. In a closed-

loop system, the servo drive uses gain adjustment (Manual mode or 5 gain adjustment modes)

and the integrated PI controller.

In Manual mode, you can set all the parameters, so all the auto or auxiliary functions are

disabled. In gain adjustment modes, the servo drive performs estimation of the load inertia and

allows you to tune the bandwidth as well as the responsiveness. In this case, the parameter

values you set are regarded as the default values.

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6.3.1 Selecting the Speed command source

There are two types of Speed command sources: analog voltage and internal register

(parameters). Select the command source with DI signals of CN1. See the following table for

more details.

Speed

command

number

S1

S2

S3

S4

DI signal of CN1

SPD1 SPD0

0

0

0

1

1

0

1

1

Command source

Content

Range

Mode

S

External analog

signal

Voltage difference

between

V_REF and GND

-10V to +10V

Sz

N/A

Speed command is 0

0

P1.009

-75000 to +75000

Internal register parameter

P1.010

-75000 to +75000

P1.011

-75000 to +75000

 Status of SPD0 - SPD1: 0 means that DI is off (the circuit is open); 1 means that DI is on

(the circuit is closed).

 When both SPD0 and SPD1 are 0, if the drive is in Sz mode, the command is 0. Thus, if

the Speed command using analog voltage is not required, you can use Sz mode to avoid

zero voltage drift. If the drive is in S mode, the command is the voltage difference between

V_REF and GND. The range of the input voltage is between -10V and +10V, and you can

adjust the corresponding speed with P1.040.

 When either one of SPD0 and SPD1 is not 0, the Speed command comes from the

internal register. The command is activated once the statuses of SPD0 and SPD1 are

switched. There is no need to use DI.CTRG for triggering.

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