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Chapter 6 Control Modes of Operation|ASDA-B Series
Revision January, 2009 6-15
6.3.5 Timing Chart of Speed Control Mode
S4 (P1-11)
S3 (P1-10)
S2 (P1-09)
S1
SPD0
SPD1
SON
OFF
ON
OFF
ON
ON
OFF
ON
Internal speed
command
External analog
voltage or zero (0)
External I/O signal
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the
speed command S1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of SPD0~1.
6.3.6 Speed Loop Gain Adjustment
The function and structure of speed control mode is shown as the figure shown below:
Feed Forward
Gain P2-07
Proportional
Gain P2-04
+
-
Switching
Rate P2-05
J_load /J_motor
P1-37
Gain Switching
Control Selection
P2-27
+
+
Differentiator
+
+
P2-27
+
+
System inertia J
(1+P1-37)*JM
Torque constant
reciprocal 1/KT
Motor
Inertia JM
To rque
Command
Current
Command
Low-pass
Filter P2-49
Speed Control Block Diagram
Encoder
Speed Estimator
Proportional
Gain P2-04
Integrator
- Preface 2
- Table of Contents 6
- Revision January, 2009 10
- Revision January, 2009 13
- 1.2 Model Explanation 16
- 1.2.1 Nameplate Information 16
- ASDA-B Series Servo Drive 17
- ECMA Series Servo Motor 18
- Revision January 2009 2-1 22
- Revision January 2009 2-3 24
- Minimum Clearances 25
- Side by Side Installation 25
- 3.1 Connections 26
- Revision January 2009 3-3 28
- 3.1.3 Wiring Methods 29
- Revision January 2009 3-5 30
- Revision January 2009 3-7 32
- 3.2 Basic Wiring 34
- Digital output 37
- Max. input pulse 46
- 3.4 Encoder Connector CN2 49
- CN3 Drive Connector 50
- Notebook 51
- 3.6.1 Position Control Mode 52
- 3.6.2 Speed Control Mode 53
- 3.6.3 Torque Control Mode 54
- 4.1 ASD-PU-01A 56
- Parameter Mode 58
- Monitor Mode 58
- Parameter 58
- Setting Mode 58
- FEDIT:AUTO D -L 61
- 6 61
- Fast Editing 62
- Dynamic Auto-tuning 62
- Static Auto-tuning 62
- Monitor Setting Display 64
- 4.1.5 JOG Operation 67
- DI1: OFF 70
- 4.2 ASD-PU-01B 73
- Figure 4.9 75
- Figure 4.11 79
- 4.2.5 JOG Operation 86
- 5.1 Inspection without Load 94
- Revision January 2009 101
- 5.5 Tuning Procedure 104
- ASD-PU-01A 104
- 5.5.1 Tuning Flowchart 106
- KVI (Parameter P2-06) 113
- NLP (Parameter P2-25) 114
- 6.2 Position Control Mode 117
- Ball Screw Pitch: 3mm 120
- Workpiece (Table or Load 120
- Encoder PPR: 2500 pulse 120
- 6.2.5 Low-pass Filter 121
- Position 123
- 6.3 Speed Control Mode 124
- Ta r ge t S p ee d 128
- Time Domain 136
- Motor Speed 137
- Inertia Measurement 137
- Gain (db) 138
- Frequency (Hz) 138
- 6.4 Torque Control Mode 140
- Ta rge t Sp e e d 142
- 6.5 Control Modes Selection 144
- 6.6 Others 146
- 6.6.1 Speed Limit 146
- 6.6.2 Torque Limit 146
- 6.6.3 Regenerative Resistor 147
- 6.6.4 Electromagnetic Brake 151
- Chapter 7 Servo Parameters 154
- 7.2 Parameters Summary 155
- Basic Parameters 156
- Extension Parameters 158
- Communication Parameters 160
- Diagnosis Parameters 161
- Keypad Parameters 162
- Monitor and General Use 163
- Gain and Switch 164
- Position Control 165
- Digital I/O 167
- Communication 168
- Communication Addr.: 0416H 219
- Communication Addr.: 0417H 219
- Controller 220
- Code Description: 243
- Data Format: 243
- Communication Protocol: 244
- 9.1 Basic Inspection 252
- Cooling fan 254
- Chapter 10 Troubleshooting 256
- Chapter 11 Specifications 268
- 269
- 11.7 EMI Filters Selection 289
- PLC Program 291
- HMI DOP-A HMI 296
- (Position Control 1) 297
- (Position Control 2) 298
- (JOG Operation) 299
- Connecting to Delta DVP-01PU 305
- Appendix A Accessories 310
- (100 mm) 312
- (3.15 inch) 312
- (3.94 inch) 312
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