Delta ASD-A2-0121 Series User Manual page 12

Table of Contents
6.4 Torque Mode ························································································ 6-48
6.4.1 Selection of Torque Command ····························································· 6-48
6.4.2 Control Structure of Torque Mode ························································· 6-49
6.4.3 Smooth Torque Command ·································································· 6-50
6.4.4 The Scaling of Analog Command·························································· 6-51
6.4.5 Timing Diagram in Torque Mode··························································· 6-52
6.5 Dual Mode ··························································································· 6-53
6.5.1 Speed / Position Dual Mode ································································ 6-54
6.5.2 Speed / Torque Dual Mode ································································· 6-54
6.5.3 Torque / Position Dual Mode ······························································· 6-55
6.6 Others ································································································· 6-56
6.6.1 The Use of Speed Limit ······································································ 6-56
6.6.2 The Use of Torque Limit ····································································· 6-57
6.6.3 Analog Monitor ················································································· 6-58
6.6.4 The Use of Brake ·············································································· 6-62
Chapter 7 Motion Control··················································································· 7-1
7.1 Motion Control Functions of ASDA-A2 ························································· 7-1
7.2 System Information ················································································· 7-1
7.2.1 Description of Monitoring Variables ························································ 7-2
7.2.2 Description of Data Array ····································································· 7-9
7.3 Description of Motion Axes ······································································· 7-12
7.4 Description of PR Mode ··········································································· 7-13
7.5 The Difference between General PR Mode and the One in ASDA-A2 ················ 7-13
7.6 The Position Unit of PR Mode ··································································· 7-14
7.7 Description of Register in PR Mode ···························································· 7-14
ASDA-A2
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