212 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
When the control mode is Torque mode (T or Tz), the Speed command can be
used for speed limit.
Control Structure of Speed Mode
The following diagram illustrates basic control structure.
The speed command processing unit is to select the command source, including
the parameter ID147 (P1.040) scaling setting for rotation speed and S-curve
setting for smoothing the speed. The speed control unit manages the gain
parameters of the servo drive and calculates the current command for servo
motor in time. The resonance suppression unit is to suppress the resonance of
mechanism.
In the above diagram, the upper path is the processing path of the command
issued by the register, the middle path is the processing path of external analog
command, and the lower path is the processing path of Ethernet communication.
The command is selected according to the status of the DI.SPD0 and DI.SPD1
signals, and ID117 (P1.001), S or Sz. In this condition, S-curve and low-pass
filter are applied for the purpose of achieving a smoother response.
ID125…ID127
(P1.009…P1.011)
Speed Limit
Setting Value Valid Speed Range
Speed Limit
In Forward Direction In Reverse Direction
+1000 -100…+100 rpm +100 rpm -100 rpm
-1000
Motor
Current Loop
Speed
Control
Speed
Command
Processing
Resonance
Suppression
Speed Estimator
Torque Limit
Preset Speed
Command
ID125…ID127
(P1.009…P1.011)
Smoothing Time
of S-curve
ID143 (P1.036)
Control Mode
ID117 (P1.001)
Speed Command
Low Pass Filter
Time Constant
ID122 (P1.006)
Velocity Command
Moving Filter
Time Constant
ID164 (P1.059)
Analog to
Speed Scale
ID147 (P1.040)
A/D
Deceleration
Reference
Smoothing Time
of S-curve
ID143 (P1.036)
Acceleration
Reference
Speed
Reference
I/O Mode - Speed
= I/O Assembly Output Parameter
Analog Signal
Feedback Pulse
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