Delta ASD-A3-0121, User Manual

Page: 152 / 603

Revision December, 2017
6-1
Operation Mode
This chapter describes the operation of each control mode, including gain adjustment
and filters. For position control, you use the external pulse and commands from the
internal registers. For Speed mode and Torque mode, apart from the commands from
the internal registers, you can also control the servo drive by the analog voltage input.
In addition to Single mode, Dual mode is also available for meeting the application
requirements.
台
6.1 Selecting the operation mode ······························································· 6-3
6.2 Position mode ·················································································· 6-4
6.2.1 Position command in PT mode ······················································· 6-4
6.2.2 Position command in PR mode ······················································ 6-5
6.2.3 Control structure of Position mode ·················································· 6-5
6.2.4 S-curve filter (Position) ································································· 6-7
6.2.5 Electronic gear ratio (E-Gear ratio) ·················································· 6-8
6.2.6 Low-pass filter ············································································ 6-9
6.2.7 Timing diagram of PR mode ·························································· 6-9
6.2.8 Gain adjustment for the position loop ············································· 6-10
6.2.9 Low-frequency vibration suppression in Position mode ······················ 6-12
6.3 Speed mode ·················································································· 6-14
6.3.1 Selecting the Speed command source ··········································· 6-14
6.3.2 Control structure of Speed mode ·················································· 6-15
6.3.3 Smooth Speed command ···························································· 6-16
6.3.4 Scaling of the analog command ···················································· 6-18
6.3.5 Timing diagram for Speed mode ··················································· 6-19
6.3.6 Gain adjustment of the speed loop ················································ 6-20
6.3.7 Resonance Suppression unit ······················································· 6-22
6.4 Torque mode ················································································ 6-25
6.4.1 Selecting the Torque command source··········································· 6-25
6.4.2 Control structure of Torque mode ·················································· 6-26
6.4.3 Smooth Torque command ··························································· 6-27
6.4.4 Scaling of the analog command ···················································· 6-27
6.4.5 Timing diagram in Torque mode ···················································· 6-28
6.5 Dual mode ····················································································· 6-29