5-1
Chap 5 Control Functions
5-1 Control Mode Selection .......................................................................................................... 5-3
5-2 Torque Mode ........................................................................................................................... 5-4
5-2-1 Analog Torque Command JSDG2S-E does not have this function ........................ 5-6
5-2-2 Digital Torque Command ............................................................................................ 5-9
5-2-3 Torque Command Linear Acceleration / Deceleration .............................................. 5-10
5-2-4 Torque output direction definition ............................................................................. 5-13
5-2-5 Internal Torque Limit Setting .................................................................................... 5-15
5-2-6 Speed Limit of Torque Mode .................................................................................... 5-16
5-2-7 Other Torque Control Functions ................................................................................ 5-19
5-3 Speed Mode .......................................................................................................................... 5-20
5-3-1 Select Speed Command ............................................................................................. 5-24
5-3-2 Analog speed command JSDG2S-E(L) does not have this function ..................... 5-25
5-3-3 Analog speed command limit JSDG2S-E(L) does not have this function ............. 5-27
5-3-4 Speed Command Smoothing ..................................................................................... 5-27
5-3-5 Speed Rotation Direction Definition ......................................................................... 5-32
5-3-6 Torque Limit in Speed Mode ..................................................................................... 5-33
5-3-7 Other Speed Control Functions ................................................................................. 5-35
5-4 Position Mode ....................................................................................................................... 5-37
5-4-1 External Pulse Command Mode ................................................................................ 5-45
5-4-2 Internal Position Command Mode ............................................................................ 5-49
5-4-3 Electronic Gear Ratio ................................................................................................ 5-55
5-4-4 Position Command Acceleration / Deceleration Function ........................................ 5-62
5-4-5 Position Command Direction Definition ................................................................... 5-67
5-4-6 Pulse Error Clearing Mode ........................................................................................ 5-67
5-4-7 Reset to Origin .......................................................................................................... 5-68
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