September, 2015 III
5.5.7 Tuning Mode and Parameters ································································· 5-18
5.5.8 Tuning in Manual Mode ········································································· 5-19
Control Mode of Operation
6.1 Selection of Operation Mode ········································································ 6-2
6.2 Position Mode ··························································································· 6-3
6.2.1 Control Structure of Position Mode ·························································· 6-3
6.2.2 S-curve Filter (Position) ········································································ 6-4
6.2.3 Electronic Gear Ratio ··········································································· 6-5
6.2.4 Low-pass Filter ··················································································· 6-6
6.2.5 Gain Adjustment of Position Loop ··························································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode ······························· 6-7
6.3 Speed Mode ····························································································· 6-10
6.3.1 Selection of Speed Command ································································ 6-10
6.3.2 Control Structure of Speed Mode ···························································· 6-11
6.3.3 Smooth Speed Command ····································································· 6-12
6.3.4 Timing Diagram of Speed Mode ····························································· 6-13
6.3.5 Gain Adjustment of Speed Loop ····························································· 6-14
6.3.6 Resonance Suppression ······································································· 6-18
6.4 Torque Mode ····························································································· 6-23
6.4.1 Selection of Torque Command ······························································· 6-23
6.4.2 Control Structure of Torque Mode ··························································· 6-24
6.4.3 Smooth Torque Command····································································· 6-25
6.4.4 Timing Diagram of Torque Mode ····························································· 6-25
6.5 The Use of Brake ······················································································· 6-26
Parameters
7.1 Parameter Definition ··················································································· 7-2
7.2 List of Parameters ······················································································ 7-3
7.3 Parameter Description ················································································· 7-10
P0-xx Monitor Parameters ······································································ 7-10
P1-xx Basic Parameters ········································································· 7-22
P2-xx Extension Parameters ··································································· 7-37
P3-xx Communication Parameters ··························································· 7-50
P4-xx Diagnosis Parameters ··································································· 7-55
P5-xx Motion Setting Parameters ····························································· 7-59
Parameter Setting
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