ASDA-A2 Chapter 6 Control Mode of Operation
Revision February, 2017 6-25
The setting range of internal parameters is between -60000 and 60000. Setting value =
setting range x unit (0.1r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1r/min = +3000r/min
The speed command not only can be issued in speed mode (S or Sz), but also in torque mode
(T or Tz) as the speed limit.
6.3.2 Control Structure of Speed Mode
The basic control structure is shown as the following diagram:
Speed Command
Speed control
Speed
Command
Processing
Torque Limit
Resonance
Suppression
Speed
Estimator
Motor
Current
Loop
The speed command unit is to select speed command source according to Section 6.3.1, including
the scaling (P1-40) setting and S-curve setting. The speed control unit manages the gain
parameters of the servo drive and calculates the current command for servo motor in time. The
resonance suppression unit is to suppress the resonance of mechanism. Detailed descriptions are
shown as the following:
Here firstly introduces the function of speed command unit. Its structure is as the following diagram.
Analog signal
Command
Selection
P1-01
Internal Parameter
P1-09
~P1-11
Proportion
Gain
P1-40
S-curve Filter
P1-36
Analog Command
Filter
P1-59
Low-pass Filter
P1-06
A/D
SPD0, SPD1 signal of CN1
The upper path is the command from register while the lower one is external analog command.
The command is selected according to the status of SPD0, SPD1 and P1-01(S or Sz). Usually, S-
curve and low-pass filter are applied for having a smooth resonance of command.
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