Delta ASDA-A3 Series User Manual page 9

6.2.3 Control structure of Position mode ································································· 6-6
6.2.4 S-curve filter (Position) ················································································ 6-8
6.2.5 Electronic gear ratio (E-Gear ratio) ································································· 6-9
6.2.6 Low-pass filter ························································································· 6-10
6.2.7 Timing diagram of PR mode ······································································· 6-10
6.2.8 Gain adjustment for the position loop ···························································· 6-11
6.2.9 Low-frequency vibration suppression in Position mode ····································· 6-13
6.3 Speed mode ································································································· 6-15
6.3.1 Selecting the Speed command source ·························································· 6-15
6.3.2 Control structure of Speed mode ································································· 6-16
6.3.3 Smooth Speed command ··········································································· 6-17
6.3.4 Scaling of the analog command··································································· 6-19
6.3.5 Timing diagram for Speed mode ·································································· 6-20
6.3.6 Gain adjustment of the speed loop ······························································· 6-21
6.3.7 Resonance Suppression unit ······································································ 6-23
6.4 Torque mode ······························································································· 6-26
6.4.1 Selecting the Torque command source·························································· 6-26
6.4.2 Control structure of Torque mode ································································· 6-27
6.4.3 Smooth Torque command ·········································································· 6-28
6.4.4 Scaling of the analog command··································································· 6-28
6.4.5 Timing diagram in Torque mode··································································· 6-29
6.5 Dual mode ···································································································· 6-30
6.5.1 Speed / Position dual mode ········································································ 6-31
6.5.2 Speed / Torque dual mode ········································································· 6-32
6.5.3 Torque / Position dual mode ······································································· 6-33
6.6 Others ········································································································· 6-34
6.6.1 Applying the speed limit ············································································· 6-34
6.6.2 Applying the torque limit ············································································ 6-35
6.6.3 Analog monitoring ···················································································· 6-35
Description of Motion Control
7.1 PR mode description ····················································································· 7-2
7.1.1 Shared PR parameters ············································································ 7-4
7.1.2 Monitoring variables of PR mode ······························································· 7-6
7.1.3 Motion Control commands ······································································· 7-8
7.1.4 Overview of the PR procedure ·································································· 7-35
7.1.5 Trigger methods for the PR command························································· 7-42
7.1.6 PR procedure execution flow ···································································· 7-46
7.2 Application of motion control ··········································································· 7-59
Revision December, 2017