Delta ASDA-M Series

Table of Content ASDA-M
Revision December, 2014
5.3 JOG Trial Run without Load .......................................................................... 5-6
5.4 Trial Run without Load (Speed Mode) ........................................................... 5-7
5.5 Trial Run without Load (Position Mode) ......................................................... 5-9
5.6 Tuning Procedure .......................................................................................... 5-11
5.6.1 Flowchart of Tuning Procedure ............................................................. 5-12
5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-13
5.6.3 Flowchart of Auto Tuning ...................................................................... 5-14
5.6.4 Flowchart of Semi-auto Tuning ............................................................. 5-15
5.6.5 Limit of Load Inertia Estimation ............................................................ 5-17
5.6.6 Mechanical Resonance Suppression Method ....................................... 5-19
5.6.7 Tuning Mode and Parameters .............................................................. 5-20
5.6.8 Tuning in Manual Mode ........................................................................ 5-21
Chapter 6 Control Mode of Operation
6.1 Selection of Operation Mode ......................................................................... 6-1
6.2 Position Mode ................................................................................................ 6-3
6.2.1 Position Command of PT Mode ............................................................ 6-3
6.2.2 Position Command of PR Mode ........................................................... 6-6
6.2.3 Control Structure of Position Mode ....................................................... 6-7
6.2.4 S-curve Filter (Position) ........................................................................ 6-8
6.2.5 Electronic Gear Ratio ........................................................................... 6-12
6.2.6 Low-pass Filter ..................................................................................... 6-14
6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-16