5-9
5-3 Speed Mode
z Speed Mode is necessary for applications that require precisely speed control, such as
weaving, drilling and CNC type machines.Diagrams below shows the speed control
system in two parts.
z First stage shows Speed processing and conditioning and the second stage shows the
Speed controller.
z With PI/P control modes, and controller 1&2 selection and interface with torque control
stage.
.
Speed Command Processor
Once Smooth
AC/deceleration
Speed
Rotating Direction
Input Contact
SPDINV
Speed Controller
Speed Feed Back
Cn004
Linear
AC/deceleration
Sn206
Sn208~Sn210
S-Curve
AC/deceleration
Sn205
AC/deceleration Method
Analog Speed Command Limit
Sn218
Sn217
Sn216
A/D
Analog Speed Command
Host Controllor
Cn005
Encoder Signal
Encode-ratio Output
Sn201~Sn203
Internal Speed Command
Ratio
Bias Adjusting
Speed Controller
Analog Torque Limit
A/D
Analog Torque Limit
Internal Torque
Limit
Cn010, Cn011
Torque Control
Loop
Speed Controller 1
Sn211, Sn212
Speed Controller 2
Sn213, Sn214
Input ContactGain switch method
Cn015~Cn024
Resonance filter
Cn013, Cn014
Speed
Feed Back
Smooth Filter
Cn032
Speed Feed Back
Speed Command
From Speed
Processor
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