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Control Mode

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ASDA-A3

6

 The parameter setting range (internal register) is -75000 to +75000.

Rotation speed = setting value x unit (0.1 rpm). For example, if P1.009 = +30000,

then rotation speed = +30000 x 0.1 rpm = +3000 rpm

You can use the Speed command in Speed mode (S or Sz) as well as in Torque mode (T or Tz)

to set the speed limit.

6.3.2 Control structure of Speed mode

The following diagram shows the basic control structure of Speed mode.

Speed command

Speed

command

processing

unit

Speed observer

Speed control unit

Resonance

suppression unit

Torque limit

Current loop

Motor

The Speed command processing unit selects the command source (see Section 6.3.1),

including the scaling parameter (P1.040) for rotation speed and S-curve parameter for

smoothing the speed. The Speed control unit controls the gain parameters of the servo drive

and calculates the current command for the servo motor in real-time. The Resonance

suppression unit suppresses the resonance of the machine.

The structure of the Speed command processing unit is shown in the following diagram.

Register

P1.009 -

P1.011

A/D

Scaling

P1.040

S-curve filter

P1.036

Moving filter

P1.059

SPD0 and SPD1 signals of CN1

Command

selection

P1.001

Low-pass filter

P1.006

Analog signal

The upper path is the command from the register and the lower one is the command from the

external analog voltage, which you can select with the status of SPD0 and SPD1, and P1.001

(S or Sz). In this condition, the S-curve and low-pass filters are applied to achieve a smoother

response.

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