Delta ASDA-A3 Series User Manual page 15

Operation and Motion Control
6
Operation Mode
6.1 Selecting the operation mode ·············································································· 6-3
6.2 Position mode ································································································· 6-5
6.2.1 Position command in PT mode ······································································ 6-5
6.2.2 Position command in PR mode ····································································· 6-6
6.2.3 Control structure of Position mode ································································· 6-7
6.2.4 S-curve filter (Position) ················································································ 6-8
6.2.5 Electronic gear ratio (E-Gear ratio) ······························································· 6-10
6.2.6 Low-pass filter ························································································· 6-11
6.2.7 Timing diagram of PR mode ······································································· 6-11
6.2.8 Gain adjustment of the position loop ····························································· 6-12
6.2.9 Low-frequency vibration suppression in Position mode ····································· 6-14
6.3 Speed mode ································································································· 6-17
6.3.1 Selecting the Speed command source ·························································· 6-17
6.3.2 Control structure of Speed mode ································································· 6-18
6.3.3 Smooth Speed command ··········································································· 6-19
6.3.4 Scaling of the analog command··································································· 6-21
6.3.5 Timing diagram of Speed mode ··································································· 6-22
6.3.6 Gain adjustment of the speed loop ······························································· 6-23
6.3.7 Resonance suppression unit ······································································· 6-25
6.4 Torque mode ································································································· 6-28
6.4.1 Selecting the Torque command source ························································· 6-28
6.4.2 Control structure of Torque mode ································································· 6-29
6.4.3 Smooth Torque command ·········································································· 6-29
6.4.4 Scaling of the analog command··································································· 6-30
6.4.5 Timing diagram of Torque mode ·································································· 6-31
6.5 Dual mode / Multi-mode ··················································································· 6-32
6.5.1 Speed / Position dual mode ········································································ 6-33
6.5.2 Speed / Torque dual mode ········································································· 6-34
6.5.3 Torque / Position dual mode ······································································· 6-35
6.6 Others ········································································································· 6-36
6.6.1 Applying the speed limit ············································································· 6-36
6.6.2 Applying the torque limit ············································································ 6-36
6.6.3 Analog monitoring ···················································································· 6-37
6.7 Full-closed loop control system ········································································· 6-38
6.7.1 Hardware configuration ············································································· 6-39
6.7.2 Control structure ······················································································ 6-41