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Delta Electronics ASDA-B Series Manual Do Utilizador

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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
Torque 
Command
Current
Command
Low-pass
Filter P2-49
Speed Control Block Diagram
Encoder
Speed Estimator
Proportional
Gain P2-04
Integrator