Chapter 6 Control Modes of Operation6-10 Revision June 20106.3 Speed Control ModeThe speed control mode (S or Sz) is usually used on the applications of precision speedcontrol, such as CNC machine, etc. ASDA-B2 series servo drive supports two kinds ofcommand sources in speed control mode. One is external analog signal and the other isinternal parameter. The external analog signal is from external voltage input and it cancontrol the speed of servo motor. There are two usage of internal parameter, one is setdifferent speed command in three speed control parameters before operation and then usingSPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serialcommunication to change the setting value of parameter.Beside, in order to make the speed command switch more smoothly, ASDA-B2 series servodrive also provides complete S-curve profile for speed control mode. For the closed-loopspeed control, ASDA-B2 series servo drive provides gain adjustment function and anintegrated PI or PDFF controller. Besides, two modes of tuning technology (Manual/Auto) arealso provided for the users to select (parameter P2-32).There are two turning modes for gain adjustment: Manual and Auto modes. Manual Mode: User-defined loop gain adjustment. When using this mode, all auto andauxiliary function will be disabled. Auto Mode: Continuous adjustment of loop gains according to measured inertia, with tenlevels of system bandwidth. The parameter set by user is default value.6.3.1 Command Source of Speed Control ModeSpeed command Sources:1) External analog signal: External analog voltage input, -10V to +10V2) Internal parameter: P1-09 to P1-11CN1 DIsignalSpeedCommand SPD1 SPD0Command Source Content RangeSExternalanalogsignalVoltage betweenV-REF-GND +/-10 VS1 0 0 ModeSz N/A Speed command is0 0S2 0 1 P1-09 -50000 ~50000S3 1 0 P1-10 -50000 ~50000S4 1 1Internal parameterP1-11 -50000 ~50000
