Delta ASDA-A2 Series User Manual page 10

Table of Contents
6.2.3 Structure of Position Control Mode ............................................................ 6-9
6.2.4 S-curve Filter for Position Control .............................................................. 6-10
6.2.5 Electronic Gear Ratio.................................................................................. 6-13
6.2.6 Low-pass Filter ........................................................................................... 6-15
6.2.7 Timing Chart of Position (Pr) Control Mode ................................................ 6-16
6.2.8 Position Loop Gain Adjustment .................................................................. 6-17
6.2.9 Low-frequency Vibration Suppression ........................................................ 6-19
6.3 Speed Control Mode ........................................................................................ 6-25
6.3.1 Command Source of Speed Control Mode .................................................. 6-25
6.3.2 Structure of Speed Control Mode ............................................................... 6-26
6.3.3 Smoothing Strategy of Speed Control Mode ............................................... 6-27
6.3.4 Analog Speed Input Scaling ....................................................................... 6-32
6.3.5 Timing Chart of Speed Control Mode ......................................................... 6-33
6.3.6 Speed Loop Gain Adjustment ..................................................................... 6-33
6.3.7 Resonance Suppression ............................................................................. 6-40
6.4 Torque Control Mode ...................................................................................... 6-48
6.4.1 Command Source of Torque Control Mode ................................................ 6-48
6.4.2 Structure of Torque Control Mode ............................................................. 6-49
6.4.3 Smoothing Strategy of Torque Control Mode ............................................. 6-50
6.4.4 Analog Torque Input Scaling ...................................................................... 6-51
6.4.5 Timing Chart of Speed Control Mode ......................................................... 6-52
6.5 Control Modes Selection.................................................................................. 6-53
6.5.1 Speed / Position Control Mode Selection .................................................... 6-54
6.5.2 Speed / Torque Control Mode Selection ..................................................... 6-55
6.5.3 Torque / Position Control Mode Selection .................................................. 6-56
Revision September 2012
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