248 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 10 Modes of Operation
Control Structure of Speed Mode
The following diagram illustrates the 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.
Motor
Current Loop
Speed
Control
Speed Command
Speed
Command
Processing
Resonance
Suppression
Speed Estimator
Torque Limit
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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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