Delta ASDA-B2-F Series User Manual

Contents

ASDA-B2-F Control Mode of OperationSeptember, 2015 6-1166.3.2 Control Structure of Speed ModeSpeed CommandSpeed Control UnitSpeedCommandProcessing UnitTorque LimitResonanceSuppression UnitSpeedEstimatorMotorCurrentLoopFigure 6-5 Basic Control Structure of Speed ModeThe speed command processing unit is to select speed command source according to Section6.3.1, including the S-curve setting for smoothing speed command. The speed control unitmanages the gain parameters of the servo drive and calculates the current command for servomotor in time. The resonance suppression unit is to suppress the resonance of the mechanism.Here firstly introduce the function of speed command processing unit. Its structure is as thefollowing figure:CommandSelectionP1-01RegisterP1-09~ P1-11S-curve FilterP1-36Low-pass FilterP1-06SPD0 and SPD1 Signal ofCN1Figure 6-6 Structure of Speed CommandUsually, S-curve and low-pass filters are applied for having a smooth response of command.