Delta Electronics AC Servo Drive ASDA-AB - Page 9

Table of Contents|ASDA-AB Series
Revision January 2009
Chapter 6 Control Modes of Operation .................................................................................. 6-1
6.1 Control Modes of Operation ........................................................................................................ 6-1
6.2 Position Control Mode ................................................................................................................. 6-2
6.2.1 Command Source of Position (Pt) Control Mode ............................................................. 6-2
6.2.2 Command Source of Position (Pr) Control Mode............................................................. 6-3
6.2.3 Structure of Position Control Mode .................................................................................. 6-4
6.2.4 P-curve Filter for Position Control..................................................................................... 6-5
6.2.5 Electronic Gear Ratio ....................................................................................................... 6-8
6.2.6 Low-pass Filter ................................................................................................................. 6-9
6.2.7 Timing Chart of Position (Pr) Control Mode ..................................................................... 6-10
6.2.8 Position Loop Gain Adjustment ........................................................................................ 6-10
6.3 Speed Control Mode.................................................................................................................... 6-13
6.3.1 Command Source of Speed Control Mode ...................................................................... 6-13
6.3.2 Structure of Speed Control Mode..................................................................................... 6-14
6.3.3 Smoothing Strategy of Speed Control Mode.................................................................... 6-15
6.3.4 Analog Speed Input Scaling ............................................................................................. 6-18
6.3.5 Timing Chart of Speed Control Mode............................................................................... 6-19
6.3.6 Speed Loop Gain Adjustment........................................................................................... 6-19
6.3.7 Resonance Suppression .................................................................................................. 6-24
6.4 Torque Control Mode................................................................................................................... 6-28
6.4.1 Command Source of Torque Control Mode ..................................................................... 6-28
6.4.2 Structure of Torque Control Mode.................................................................................... 6-29
6.4.3 Smoothing Strategy of Torque Control Mode................................................................... 6-29
6.4.4 Analog Torque Input Scaling ............................................................................................ 6-30
6.4.5 Timing Chart of Torque Control Mode.............................................................................. 6-31