HIWIN MIKROSYSTEM CORP. 3-1
3. Operation principles
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3. Operation principles ················································································································ 3-1
3.1 Operation modes ··········································································································· 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 ······························································································· 3-4
3.2 Encoder type ················································································································ 3-4
3.3 Encoder signal output ····································································································· 3-5
3.4 Path planning ················································································································ 3-6
3.5 Servo loops and gains····································································································· 3-8
3.6 Gain margin and phase margin ························································································· 3-9
3.6.1 Nyquist diagram ·································································································· 3-9
3.6.2 Bode diagram ··································································································· 3-11
3.7 Move and settling ········································································································· 3-12
3.8 Error compensation ······································································································ 3-13
3.9 Velocity ripple ·············································································································· 3-14
3.10 Enable ······················································································································· 3-15
3.11 Common physical quantities ··························································································· 3-16
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