Delta ASDA-B2-F Series User Manual page 6

5.5.7
5.5.8
Control Mode of Operation
6.1
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.3.6
6.4
6.4.1
6.4.2
6.4.3
6.4.4
6.5
Parameter Setting
Parameters
7.1
7.2
7.3
September, 2015
Tuning Mode and Parameters ································································· 5-18
Tuning in Manual Mode ········································································· 5-19
Selection of Operation Mode ········································································ 6-2
Position Mode ··························································································· 6-3
Control Structure of Position Mode ·························································· 6-3
S-curve Filter (Position) ········································································ 6-4
Electronic Gear Ratio ··········································································· 6-5
Low-pass Filter ··················································································· 6-6
Gain Adjustment of Position Loop ··························································· 6-6
Low-frequency Vibration Suppression in Position Mode ······························· 6-7
Speed Mode ····························································································· 6-10
Selection of Speed Command ································································ 6-10
Control Structure of Speed Mode ···························································· 6-11
Smooth Speed Command ····································································· 6-12
Timing Diagram of Speed Mode ····························································· 6-13
Gain Adjustment of Speed Loop ····························································· 6-14
Resonance Suppression ······································································· 6-18
Torque Mode ····························································································· 6-23
Selection of Torque Command ······························································· 6-23
Control Structure of Torque Mode ··························································· 6-24
Smooth Torque Command····································································· 6-25
Timing Diagram of Torque Mode ····························································· 6-25
The Use of Brake ······················································································· 6-26
Parameter Definition ··················································································· 7-2
List of Parameters ······················································································ 7-3
Parameter Description ················································································· 7-10
P0-xx Monitor Parameters ······································································ 7-10
P1-xx Basic Parameters ········································································· 7-22
P2-xx Extension Parameters ··································································· 7-37
P3-xx Communication Parameters ··························································· 7-50
P4-xx Diagnosis Parameters ··································································· 7-55
P5-xx Motion Setting Parameters ····························································· 7-59
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