Chapter 6 Control Modes of Operation

6.3 Speed Control Mode

The speed control mode (S or Sz) is usually used on the applications of precision speed
control, such as CNC machine, etc. ASDA-B2 series servo drive supports two kinds of
command sources in speed control mode. One is external analog signal and the other is
internal parameter. The external analog signal is from external voltage input and it can
control the speed of servo motor. There are two usage of internal parameter, one is set
different speed command in three speed control parameters before operation and then using
SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial
communication to change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-B2 series servo
drive also provides complete S-curve profile for speed control mode. For the closed-loop
speed control, ASDA-B2 series servo drive provides gain adjustment function and an
integrated PI or PDFF controller. Besides, two modes of tuning technology (Manual/Auto) are
also 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 and
auxiliary function will be disabled.

Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten
levels of system bandwidth. The parameter set by user is default value.

6.3.1 Command Source of Speed Control Mode

Speed command Sources:

1) External analog signal: External analog voltage input, -10V to +10V

2) Internal parameter: P1-09 to P1-11

CN1 DI
Speed Signal Command Source Content Range
Command
SPD1 SPD0
External
Voltage between V-
S analog +/-10 V
S1 0 0 Mode REF-GND
signal
Sz N/A Speed command is 0 0
-50000 ~
S2 0 1 P1-09
50000
-50000 ~
S3 1 0 Internal parameter P1-10
50000
-50000 ~
S4 1 1 P1-11
50000

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 Chapter 6 Control Modes of Operation

State of SPD0~1: 0: indicates OFF (Normally Open);1: indicates ON (Normally

Closed)

When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz,
then the speed command is 0. Therefore, if the users do not use analog voltage as
speed command, the users can choose Sz mode and avoid the zero point drift
problem of analog voltage signal. If the speed control mode is S mode, then the
command is the analog voltage between V-REF and GND. The setting range of the
input voltage is from -10V to +10V and the corresponding motor speed is
adjustable (Please see parameter P1-40).
When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal
parameter (P1-09 to P1-11). The command is valid (enabled) after either SPD0 or
SPD1 is changed.
The range of internal parameters is within -50000 ~ +50000 r/min. Setting value =
Range x Unit (0.1 r/min). For example, if P1-09 is set to +30000, the setting value
= +30000 x 0.1 r/min = +3000 r/min.

The speed command that is described in this section not only can be taken as speed
command in speed control mode (S or Sz mode) but also can be the speed limit input
command in torque control mode (T or Tz mode).

6.3.2 Structure of Speed Control Mode

Basic Structure:

In the figure above, the speed command processing is used to select the command
source of speed control according to chapter 6.3.1, including proportional gain (P1-40)
and S-curve filter smoothing strategy of speed control. The speed control block diagram
is used to manage the gain parameters of the servo drive and calculate the current input
provided to motor instantaneously. The resonance suppression block diagram is used to
suppress the resonance of mechanical system.

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Chapter 6 Control Modes of Operation

The function and structure of speed command processing is shown as the figure below:

The command source is selected according to the state of SPD0, SPD1 and parameter P1-
01 (S or Sz). Whenever the command signal needs to be more smoothly, we recommend
the users to use S-curve and low-pass filter.

6.3.3 Smoothing Strategy of Speed Control Mode

S-curve Filter

The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-
curve to smooth the speed command change of the motor during acceleration and
deceleration. Using S-curve filter can let the servo motor run more smoothly in response
to a sudden speed command change. Since the speed and acceleration curve are both
continuous, in order to avoid the mechanical resonance and noise may occur due to a
sudden speed command (differentiation of acceleration), using S-curve filter not only can
improve the performance when servo motor accelerate or decelerate but also can make
the motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time
(TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can
use these three parameters to improve the motor performance during acceleration,
deceleration and operation. ASDA-B2 series servo drives also support the time calculation
of completing speed command. T (ms) is the operation (running) time. S (r/min) is
absolute speed command, i.e. the absolute value (the result) after starting speed
subtracts the final speed.

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 Chapter 6 Control Modes of Operation

Relevant parameters:

P1 -34 TACC Acceleration Time Address: 0144H,0145H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3
Unit: ms
Range: 1 ~20000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to
its rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are
each individual.
Please note:
1. When the source of speed command is analog command, the maximum
setting value of P1-36 is set to 0, the acceleration and deceleration function
will be disabled.

P1 -35 TDEC Deceleration Time Address: 0146H,0147H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to
its rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are
each individual.

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Chapter 6 Control Modes of Operation

Please note:
1. When the source of speed command is analog command, the maximum
setting value of P1-36 is set to 0, the acceleration and deceleration function
will be disabled.

P1 -36 TSL Accel /Decel S-curve Address: 0148H,0149H

Default: 0 Related Section:

Unit: ms Section 6.3.3
Applicable Control Mode: S
Range: 0 ~ 10000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to make the motor run more smoothly when startup and
windup. Using this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time

TDEC: P1-35, Deceleration time
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When
P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It
indicates that the parameters P1-34 and P1-35 will not become disabled even
when P1-36 is disabled.
Please note:
1. When the source of speed command is analog command, the maximum
setting value of P1-36 is set to 0, the acceleration and deceleration function
will be disabled.

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 Chapter 6 Control Modes of Operation

Analog Speed Command S-curve Filter

ASDA-B2 series servo drives also provide Analog Speed Command S-curve Filter for the
smoothing in response to a sudden analog input signal.
Speed (rpm) Analog speed command Motor Torque
3000

0
1 2 3 4 5 6 7 8 9 Time (sec)

-3000

The analog speed command S-curve filter is for the smoothing of analog input signal and
its function is the same as the S-curve filter. The speed and acceleration curve of analog
speed command S-curve filter are both continuous. The above figure shows the curve of
analog speed command S-curve filter and the users can see the ramp of speed command
is different during acceleration and deceleration. Also, the users can see the difference of
input command tracking and can adjust time setting by using parameter P1-34, P1-35, P1-
36 to improve the actual motor performance according to actual condition.

Analog Speed Command Low-pass Filter

Analog Speed Command Low-pass Filter is used to eliminate high frequency response and
electrical interference from an analog speed command and it is also with smoothing
function.

Relevant parameters:
Accel / Decel Smooth Constant of Analog
P1 -06 SFLT Address: 010CHʿʳ010DH
Speed Command (Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: S Section 6.3.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: DEC

NOTE

1) If the setting value of parameter P1-06 is set to 0, it indicates the function of this
parameter is disabled and the command is just By-Pass.

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Chapter 6 Control Modes of Operation

Target Speed

SFLT

6.3.4 Analog Speed Input Scaling

The analog voltage between V_REF and GND determines the motor speed command.
Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control
ramp and its range.
 
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Relevant parameters:

P1 -40 VCM Max. Analog Speed Command / Limit Address: 0150Hʿʳ0151H

Default: rated speed Related Section:

Applicable Control Mode: S/T Section 6.3.4
Unit: r/min
Range: 0 ~ 10000
Data Size: 16-bit
Display Format: DEC
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it
indicates that the speed command is 3000r/min. If P1-40 is set to 3000, but the
input voltage is changed to 5V, then the speed command is changed to 1500r/min.
Speed command / limit = Input voltage x setting/10

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 Chapter 6 Control Modes of Operation

6.3.5 Timing Chart of Speed Control Mode

S4 (P1-11)
Internal speed
S3 (P1-10)
command
S2 (P1-09)

External analog
voltage or zero (0) S1

SPD0 OFF ON OFF ON

External I/O signal SPD1 OFF ON

SON ON

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 below:

There are two turning modes of gain adjustment: Manual and Auto modes. The gain of
ASDA-B2 series servo drives can be adjusted by using any one of three tuning modes.

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