Delta ASD-M-0721 Series - Page 10

ASDA-M Table of Content
Revision December, 2014
6.2.8 Gain Adjustment of Position Loop ........................................................ 6-16
6.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-18
6.3 Speed Mode .................................................................................................. 6-24
6.3.1 Selection of Speed Command .............................................................. 6-24
6.3.2 Control Structure of Speed Mode ......................................................... 6-25
6.3.3 Smooth Speed Command .................................................................... 6-26
6.3.4 The Scaling of Analog Command ......................................................... 6-30
6.3.5 The Timing Diagram in Speed Mode .................................................... 6-31
6.3.6 Gain Adjustment of Speed Loop ........................................................... 6-32
6.3.7 Resonance Suppression....................................................................... 6-39
6.4 Torque Mode ................................................................................................. 6-47
6.4.1 Selection of Torque Command ............................................................. 6-47
6.4.2 Control Structure of Torque Mode ........................................................ 6-48
6.4.3 Smooth Torque Command ................................................................... 6-49
6.4.4 The Scaling of Analog Command ......................................................... 6-50
6.4.5 The Timing Diagram in Torque Mode ................................................... 6-51
6.5 Dual Mode ..................................................................................................... 6-52
6.5.1 Speed／Position Dual Mode ................................................................. 6-53
6.5.2 Speed／Torque Dual Mode .................................................................. 6-53
6.5.3 Torque／Position Dual Mode ................................................................ 6-54
6.6 Others ............................................................................................................ 6-55
6.6.1 The Use of Speed Limit ........................................................................ 6-55
6.6.2 The Use of Torque Limit ....................................................................... 6-55