5
Chapter 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
5-4-8 Torque Limit of Position Mode ............................................................................ 5-82
5-4-9 Other Position Control Functions ......................................................................... 5-85
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