HIWIN MIKROSYSTEM Corp. 3-1
3. Operation principles
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3. Operation principles ·················································································································· 3-1
3.1 Operation mode ·················································································································· 3-2
3.1.1 Position mode ············································································································ 3-2
3.1.2 Velocity mode ············································································································ 3-3
3.1.3 Force/torque mode ······································································································ 3-3
3.1.4 Stand-alone mode ······································································································ 3-3
3.2 Encoder types ···················································································································· 3-3
3.3 Encoder signal output ··········································································································· 3-5
3.4 Path planning ····················································································································· 3-6
3.5 Servo loops and servo gains ·································································································· 3-8
3.6 Gain margin and phase margin ······························································································· 3-9
3.6.1 Nyquist plot ··············································································································· 3-9
3.6.2 Bode plot ················································································································ 3-11
3.7 Move and settling ·············································································································· 3-12
3.8 Error compensation ············································································································ 3-13
3.9 Velocity ripple ··················································································································· 3-14
3.10 Enabling ························································································································ 3-15
3.11 Basic physical quantities ··································································································· 3-16
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