Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
Revision April 2009 6-25
In general, the equipment, such as spectrum analyzer is needed and used to analyze when using
frequency domain method and the users also should have this kind of analysis technology. However,
when using time domain method, the users only need to prepare an oscilloscope. Therefore, the general
users usually use time domain method with the analog DI/DO terminal provided by the servo drive to
adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque
shaft load, input command tracking and torque shaft load have the same responsiveness when using
frequency domain method and time domain method. The users can reduce the responsiveness of input
command tracking by using input command low-pass filter.
Easy Mode (for ASDA-A series only, ASDA-A+ series does not support this mode)
When P2-32 is set to 1, the easy mode function is activated. In order to enhance the performance of
servo system, ASDA-A series servo drive provide “Robust Control Technology” when the users select
the easy mode of tuning technology. The following introduces the basic structure.
The servo motor with inertia change will operate and be close to ideal reference mode due to the
feedback inside of current loop and the torque load will give the compensation immediately inside of the
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