Delta ASD-A2-0121 Series User Manual page 11

ASDA-A2
5.6.4 Flowchart of Semi-Auto Tuning ···························································· 5-15
5.6.5 Limit of Inertia Ratio ··········································································· 5-16
5.6.6 Mechanical Resonance Suppression Method ·········································· 5-17
5.6.7 Tuning Mode and Parameters ······························································ 5-19
5.6.8 Tuning in Manual Mode ······································································ 5-20
Chapter 6 Control Mode of Operation ·································································· 6-1
6.1 Selection of Operation Mode ····································································· 6-1
6.2 Position Mode ························································································ 6-3
6.2.1 Position Command in PT Mode ····························································· 6-3
6.2.2 Position Command in PR Mode ····························································· 6-7
6.2.3 Control Structure of Position Mode ························································· 6-8
6.2.4 S-curve Filter (Position) ······································································· 6-9
6.2.5 Electronic Gear Ratio ········································································· 6-12
6.2.6 Low-pass Filter ················································································· 6-15
6.2.7 Timing Diagram in Position Mode (PR) ·················································· 6-16
6.2.8 Gain Adjustment of Position Loop ························································· 6-17
6.2.9 Low-frequency Vibration Suppression in Position Mode ····························· 6-20
6.3 Speed Mode ························································································· 6-25
6.3.1 Selection of Speed Mode ···································································· 6-25
6.3.2 Control Structure of Speed Mode ·························································· 6-26
6.3.3 Smooth Speed Command ··································································· 6-27
6.3.4 The Scaling of Analog Command·························································· 6-31
6.3.5 Timing Diagram in Speed Mode ··························································· 6-32
6.3.6 Gain Adjustment of Speed Loop ··························································· 6-33
6.3.7 Resonance Suppression ····································································· 6-40
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