Table of Contents ASDA-B2
viii Revision May, 2018
5.4 Trial Run without Load (Speed Mode) ............................................................. 5-8
5.5 Tuning Procedure ............................................................................................ 5-10
5.5.1 Flowchart of Tuning Procedure .............................................................. 5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ...................................... 5-12
5.5.3 Flowchart of Auto Tuning........................................................................ 5-13
5.5.4 Flowchart of Semi-Auto Tuning .............................................................. 5-14
5.5.5 Limit of Inertia Ratio ............................................................................... 5-15
5.5.6 Mechanical Resonance Suppression Method ........................................ 5-17
5.5.7 Tuning Modes and Parameters .............................................................. 5-18
5.5.8 Tuning in Manual Mode .......................................................................... 5-19
Chapter 6 Control Modes of Operation .................................................................. 6-1
6.1 Selection of Operation Mode ........................................................................... 6-1
6.2 Position Mode ................................................................................................. 6-3
6.2.1 Position Command in PT Mode .............................................................. 6-3
6.2.2 Control Structure of Position Mode ......................................................... 6-6
6.2.3 Electronic Gear Ratio ............................................................................. 6-8
6.2.4 Low-pass Filter ....................................................................................... 6-10
6.2.5 Gain Adjustment of Position Loop .......................................................... 6-11
6.3 Speed Mode .................................................................................................... 6-14
6.3.1 Selection of Speed Mode ....................................................................... 6-14
6.3.2 Control Structure of Speed Mode ........................................................... 6-15
6.3.3 Smoothing Speed Command ................................................................. 6-16
6.3.4 The Scaling of Analog Command ........................................................... 6-20
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