Delta ASDA-A3 Series User Manual page 14

5.7.4.1 Function restriction ············································································· 5-52
5.7.4.2 Function description············································································ 5-52
5.7.4.3 Application example············································································ 5-54
5.7.5 Model-controlled vibration suppression filter ··················································· 5-55
5.7.5.1 Restrictions of the two degree of freedom control function ··························· 5-55
5.7.5.2 Function description of two degree of freedom control function ····················· 5-56
5.7.5.3 Application example of two degree of freedom control function ····················· 5-57
5.7.5.4 Restrictions of vibration elimination ························································ 5-58
5.7.5.5 Function description of vibration elimination ············································· 5-58
5.7.5.6 Application example of vibration elimination ············································· 5-59
5.7.6 Position command filter ············································································· 5-60
5.7.6.1 Function restriction ············································································· 5-60
5.7.6.2 Function description············································································ 5-60
5.7.6.3 Application example············································································ 5-61
5.7.7 Speed command filter ··············································································· 5-62
5.7.7.1 Function restriction ············································································· 5-62
5.7.7.2 Function description············································································ 5-62
5.7.7.3 Application example············································································ 5-62
5.7.8 Torque command filter ··············································································· 5-63
5.7.8.1 Function restriction ············································································· 5-63
5.7.8.2 Function description············································································ 5-63
5.7.8.3 Application example············································································ 5-63
5.8 Application function adjustment ········································································· 5-64
5.8.1 Adjusting position error in constant speed zone ·············································· 5-64
5.8.1.1 Function restriction ············································································· 5-64
5.8.1.2 Function description············································································ 5-64
5.8.1.3 Application example············································································ 5-65
5.8.2 Position overshoot adjustment ···································································· 5-66
5.8.2.1 Function restriction ············································································· 5-66
5.8.2.2 Function description············································································ 5-66
5.8.2.3 Application example············································································ 5-66
5.8.3 Multi-axis contour control ··········································································· 5-67
5.8.3.1 Function restriction ············································································· 5-67
5.8.3.2 Function description············································································ 5-67
5.8.3.3 Application example············································································ 5-69
5.8.4 Gain switching ························································································· 5-71
5.8.4.1 Function restriction ············································································· 5-71
5.8.4.2 Function description············································································ 5-71
5.8.4.3 Application example············································································ 5-71