Delta ASD-B2-0121-B, User Manual

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Table of Contents
viii
Revision June 2010
Chapter 6 Control Modes of Operation .................................................................. 6-1
6.1 Control Modes of Operation................................................................................ 6-1
6.2 Position Control Mode ........................................................................................ 6-2
6.2.1 Command Source of Position (PT) Control Mode ........................................ 6-2
6.2.2 Structure of Position Control Mode ............................................................ 6-4
6.2.3 Electronic Gear Ratio.................................................................................. 6-5
6.2.4 Low-pass Filter........................................................................................... 6-5
6.2.5 Position Loop Gain Adjustment.................................................................. 6-7
6.3 Speed Control Mode ........................................................................................... 6-10
6.3.1 Command Source of Speed Control Mode .................................................. 6-10
6.3.2 Structure of Speed Control Mode ............................................................... 6-11
6.3.3 Smoothing Strategy of Speed Control Mode ............................................... 6-12
6.3.4 Analog Speed Input Scaling ....................................................................... 6-16
6.3.5 Timing Chart of Speed Control Mode ......................................................... 6-17
6.3.6 Speed Loop Gain Adjustment..................................................................... 6-18
6.3.7 Resonance Suppression ............................................................................. 6-25
6.4 Torque Control Mode.......................................................................................... 6-32
6.4.1 Command Source of Torque Control Mode ................................................ 6-32
6.4.2 Structure of Torque Control Mode ............................................................. 6-33
6.4.3 Smoothing Strategy of Torque Control Mode ............................................. 6-34
6.4.4 Analog Torque Input Scaling...................................................................... 6-34
6.4.5 Timing Chart of Torque Control Mode ....................................................... 6-35
6.5 Control Mode Selection....................................................................................... 6-36