Chapter 6 Control Mode of Operation ASDA-A2R SeriesRevision December, 2014 6-156.3 Speed ModeSpeed control mode (S or Sz) is applicable in precision speed control, such as CNCmachine tools. This servo drive includes two types of command input, analog and register.Analog command input can use external voltage to control the motor speed. There are twomethods in register input. One is used before operation. Users set different value of speedcommand in three registers, and then use SP0, SP1 of CN1 DI signal for switching. Anothermethod is to change the value of register by communication. In order to deal with theproblem of non-continuous speed command when switching register, a complete S-curveprogram is provided. In close-loop system, this servo drive adopts gain adjustment andintegrated PI controller and two modes (manual and auto) for selection.Users can set all parameters and all auto or auxiliary function will be disabled in manualmode. While in auto mode, it provides the function of load inertia estimation and parameteradjustment. In auto mode, parameters which set by users will be regarded as the defaultvalue.6.3.1 Selection of Speed CommandThere are two types of speed command source, analog voltage and internal parameters.The selection is determined by CN1 DI signal. See as the followings.Rotary MotorSpeedCommandNo.CN1 DI SignalCommand Source Content RangeSPD1 SPD0S1 0 0 ModeSExternalanalogcommandVoltage deviationbetween V-REFand GND-10 V ~ +10VSz N/A Speed commandis 0 0S2 0 1Register parametersP1-09 -60000 ~ 60000S3 1 0 P1-10 -60000 ~ 60000S4 1 1 P1-11 -60000 ~ 60000Linear MotorSpeedCommandNo.CN1 DI SignalCommand Source Content RangeSPD1 SPD0S1 0 0 ModeSExternalanalogcommandVoltage deviationbetween V-REFand GND-10 V ~ +10VSz N/A Speed commandis 0 0S2 0 1Register parametersP1-09 -15999999 ~15999999S3 1 0 P1-10 -15999999 ~15999999S4 1 1 P1-11 -15999999 ~15999999
