Table of Contents|ASDA-A&A+ Series
Revision April 2009
6.2.2 Command Source of Position (Pr) Control Mode............................................................. 6-4
6.2.3 Structure of Position Control Mode .................................................................................. 6-5
6.2.4 P-curve Filter for Position Control..................................................................................... 6-6
6.2.5 Electronic Gear Ratio ....................................................................................................... 6-9
6.2.6 Low-pass Filter ................................................................................................................. 6-10
6.2.7 Timing Chart of Position (Pr) Control Mode ..................................................................... 6-11
6.2.8 Position Loop Gain Adjustment ........................................................................................ 6-11
6.3 Speed Control Mode ............................................................................................................... 6-14
6.3.1 Command Source of Speed Control Mode ...................................................................... 6-14
6.3.2 Structure of Speed Control Mode..................................................................................... 6-15
6.3.3 Smoothing Strategy of Speed Control Mode.................................................................... 6-16
6.3.4 Analog Speed Input Scaling ............................................................................................. 6-19
6.3.5 Timing Chart of Speed Control Mode............................................................................... 6-20
6.3.6 Speed Loop Gain Adjustment........................................................................................... 6-20
6.3.7 Resonance Suppression .................................................................................................. 6-28
6.4 Torque Control Mode .............................................................................................................. 6-31
6.4.1 Command Source of Torque Control Mode ..................................................................... 6-31
6.4.2 Structure of Torque Control Mode.................................................................................... 6-32
6.4.3 Smoothing Strategy of Torque Control Mode................................................................... 6-32
6.4.4 Analog Torque Input Scaling ............................................................................................ 6-33
6.4.5 Timing Chart of Speed Control Mode............................................................................... 6-34
6.5 Control Modes Selection ......................................................................................................... 6-35
6.5.1 Speed / Position Control Mode Selection......................................................................... 6-35
6.5.2 Speed / Torque Control Mode Selection .......................................................................... 6-36
6.5.3 Torque / Position Control Mode Selection........................................................................ 6-36
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Call 1(800)985-6929 for Sales
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