Delta ASD-A2 Series User Manual page 10

Table of Contents
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 ................................... 6-19
6.3 Speed Mode ............................................................................................................ 6-24
6.3.1 Selection of Speed Mode .................................................................................. 6-24
6.3.2 Control Structure of Speed Mode ...................................................................... 6-25
6.3.3 Smooth Speed Command ................................................................................. 6-26
6.3.4 The Scaling of Analog Command ...................................................................... 6-30
6.3.5 Timing Diagram in Speed Mode ........................................................................ 6-31
6.3.6 Gain Adjustment of Speed Loop ....................................................................... 6-31
6.3.7 Resonance Suppression ................................................................................... 6-38
6.4 Torque Mode ........................................................................................................... 6-45
6.4.1 Selection of Torque Command .......................................................................... 6-45
6.4.2 Control Structure of Torque Mode ..................................................................... 6-46
6.4.3 Smooth Torque Command ................................................................................ 6-47
6.4.4 The Scaling of Analog Command ...................................................................... 6-47
6.4.5 Timing Diagram in Torque Mode ....................................................................... 6-48
6.5 Dual Mode ............................................................................................................... 6-49
6.5.1 Speed / Position Dual Mode .............................................................................. 6-50
Revision February, 2017
ASDA-A2
ix