Delta ASDA-A3 Series User Manual page 269

Tuning
5
5-2
5.5.9.3 Bandwidth for speed loop response (P2.126) -
bandwidth adjustment ···························································· 5-35
5.6 Manual tuning of gain parameters ························································ 5-36
5.6.1 Flowchart of manual tuning in Speed mode ······································ 5-38
5.6.2 Flowchart of manual tuning in Position mode ···································· 5-39
5.6.3 Manual tuning with ASDA-Soft ······················································· 5-40
5.7 Mechanical resonance suppression and noise elimination ························· 5-41
5.7.1 Notch filter ················································································· 5-42
5.7.1.1 Function restriction ································································ 5-42
5.7.1.2 Function description ······························································ 5-42
5.7.1.3 Parameter descriptions··························································· 5-43
5.7.1.4 Application example ······························································ 5-45
5.7.2 Resonance suppression low-pass filter ············································ 5-49
5.7.2.1 Function restriction ································································ 5-49
5.7.2.2 Function description ······························································ 5-49
5.7.2.3 Application example ······························································ 5-49
5.7.3 Speed detection filter ··································································· 5-50
5.7.3.1 Function restriction ································································ 5-50
5.7.3.2 Function description ······························································ 5-50
5.7.3.3 Application example ······························································ 5-51
5.7.4 Low-frequency vibration suppression filter ········································ 5-52
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
ASDA-A3