Delta ASDA-A3 Series User Manual page 343

Operation Mode
6.6 Others ··························································································· 6-36
6
6.7 Full-closed loop control system ··························································· 6-38
6-2
6.5.3 Torque / Position dual mode ························································· 6-35
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
6.7.1 Hardware configuration ······························································· 6-39
6.7.2 Control structure········································································ 6-41
6.7.3 Steps for setting the full-closed loop function ··································· 6-43
6.7.4 Parameters for full-closed loop function ·········································· 6-44
6.7.4.1 Auxiliary encoder direction setting ··········································· 6-44
6.7.4.2 Auxiliary encoder resolution setting ········································· 6-47
6.7.4.3 E-Gear settings ··································································· 6-50
6.7.4.4 Setting the protection range for the feedback position error between
the main encoder and auxiliary encoder ··································· 6-50
6.7.4.5 Setting the low-pass filter time constant for full- / semi-closed loop
control ··············································································· 6-51
6.7.4.6 Setting the error clearing function when switching between full- and
semi-closed loops ································································ 6-52
6.7.4.7 Auto clearing of the feedback position error between the main
encoder and auxiliary encoder ················································ 6-55
6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes · 6-56
6.7.4.9 Z phase source of homing ····················································· 6-57
6.7.4.10 Encoder output settings······················································· 6-58
6.7.4.11 Full-closed loop feedback source for the controller ···················· 6-60
6.7.5 Troubleshooting full-closed loop alarms ·········································· 6-61
ASDA-A3