Table of Contents
1. General Description .................................................................................................. 5
1.1
Functionality ...............................................................................................................5
1.2
Instruction manual......................................................................................................5
1.3
Functionality ...............................................................................................................5
1.4
1.5
Deleted functions vs. SJ300 ......................................................................................6
2.1
2.2
2.3
2.4
Torque bias ................................................................................................................15
2.5
Battery backup function ...........................................................................................16
2.6
2.7
2.8
Encoder Errors ..........................................................................................................21
2.9
2.10
2.11
4. Adjustment............................................................................................................... 33
4.1
4.2
4.3
4.4
Adjustment of Inertia ................................................................................................37
4.5
Appendix A - Auto-tuning Procedure .............................................................. 41
Appendix B - Jerk Rate Calculator Program ............................................................ 49
Index............................................................................................................................. 51
3
Table of Contents