ASDA-M Chapter 6 Control Mode of OperationRevision December, 2014 6-25 The setting range of internal parameters is between -60000 and 60000. Settingvalue = setting range x unit (0.1r/min).For example: P1-09 = +30000, setting value = +30000 x 0.1r/min = +3000r/minThe speed command not only can be issued in speed mode (S or Sz), but also in torquemode (T or Tz) as the speed limit.6.3.2 Control Structure of Speed ModeThe basic control structure is shown as the following diagram:Speed CommandSpeed controlSpeedCommandProcessingTorque LimitResonanceSuppressionSpeedEstimatorMotorCurrentLoopThe speed command unit is to select speed command source according to Section 6.3.1,including the scaling (P1-40) setting and S-curve setting. The speed control unitmanages the gain parameters of the servo drive and calculates the current command forservo motor in time. The resonance suppression unit is to suppress the resonance ofmechanism. Detailed descriptions are shown as the following:Here firstly introduces the function of speed command unit. Its structure is as thefollowing diagram.Analog signalCommandSelectionP1-01Internal ParameterP1-09~P1-11ProportionGainP1-40S-curve FilterP1-36Analog CommandFilterP1-59Low-pass FilterP1-06A/DSPD0, SPD1 signal of CN1The upper path is the command from register while the lower one is external analogcommand. The command is selected according to the status of SPD0, SPD1 and
