Delta ASD-A2R-0221 Series

Table of ContentsASDA-A2R Series
Revision December, 2014
6.2.2 Position Command in PR Mode ............................................................ 6-3
6.2.3 Control Structure of Position Mode ....................................................... 6-4
6.2.4 S-Curve Filter (Position) ....................................................................... 6-6
6.2.5 Electronic Gear Ratio ........................................................................... 6-8
6.2.6 Low-pass Filter ..................................................................................... 6-9
6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-10
6.2.8 Gain Adjustment of Position Loop ........................................................ 6-11
6.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-12
6.3 Speed Mode .................................................................................................. 6-15
6.3.1 Selection of Speed Command .............................................................. 6-15
6.3.2 Control Structure of Speed Mode ......................................................... 6-16
6.3.3 Smooth Speed Command .................................................................... 6-18
6.3.4 The Scaling of Analog Command ......................................................... 6-20
6.3.5 The Timing Diagram in Speed Mode .................................................... 6-20
6.3.6 Gain Adjustment of Speed Loop ........................................................... 6-21
6.3.7 Resonance Suppression....................................................................... 6-26
6.4 Torque (force) Mode ...................................................................................... 6-31
6.4.1 Selection of Torque (force) Command .................................................. 6-31
6.4.2 Control Structure of Torque (force) Mode ............................................. 6-32
6.4.3 Smooth Torque (force) Command ........................................................ 6-33
6.4.4 The Scaling of Analog Command ......................................................... 6-33
6.4.5 The Timing Diagram in Torque (force) Mode ........................................ 6-34
6.5 Dual Mode ..................................................................................................... 6-35