Delta ASDA-B2-F Series User Manual page 90

Control Mode of Operation
This chapter describes operation structure of each control mode, including information
about gain adjustment and filters. The operation of ASDA-B2-F is based on
communication. Its position mode is controlled via DMCNET network and the speed
mode and torque mode only accept commands from internal registers.
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6.1 Selection of Operation Mode ································································ 6-2
6.2 Position Mode ··················································································· 6-3
6.2.1 Control Structure of Position Mode ·················································· 6-3
6.2.2 S-curve Filter (Position) ································································ 6-4
6.2.3 Electronic Gear Ratio ··································································· 6-5
6.2.4 Low-pass Filter ··········································································· 6-6
6.2.5 Gain Adjustment of Position Loop···················································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode ······················· 6-7
6.3 Speed Mode ··················································································· 6-10
6.3.1 Selection of Speed Command ······················································ 6-10
6.3.2 Control Structure of Speed Mode ·················································· 6-11
6.3.3 Smooth Speed Command ··························································· 6-12
6.3.4 Timing Diagram of Speed Mode ···················································· 6-13
6.3.5 Gain Adjustment of Speed Loop···················································· 6-14
6.3.6 Resonance Suppression ····························································· 6-18
6.4 Torque Mode ·················································································· 6-23
6.4.1 Selection of Torque Command ······················································ 6-23
6.4.2 Control Structure of Torque Mode ·················································· 6-24
6.4.3 Smooth Torque Command ··························································· 6-25
6.4.4 Timing Diagram of Torque Mode ··················································· 6-25
6.5 The Use of Brake ············································································ 6-26
September, 2015
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