Delta ASDA-A3 Series User Manual page 342

Operation Mode
This chapter describes the operation of each control mode, including gain adjustment
and filters. For Position mode, you use the external pulse and commands from the
internal registers. For Speed mode and Torque mode, apart from the commands from
the internal registers, you can also control the servo drive by the analog voltage input.
In addition to the single modes, dual modes or multi-modes are also available for
meeting the application requirements.
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
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