Delta ASD-B2-0121-F, User Manual

Page: 90 / 291

September, 2015
6-1
Control Mode of Operation
This chapter describes operation structure of each control mode, including information
about gain adjustment and filters. The operation of ASDA-B2-F is based on
communication. Its position mode is controlled via DMCNET network and the speed
mode and torque mode only accept commands from internal registers.
123
6.1 Selection of Operation Mode ································································ 6-2
6.2 Position Mode ··················································································· 6-3
6.2.1 Control Structure of Position Mode ·················································· 6-3
6.2.2 S-curve Filter (Position) ································································ 6-4
6.2.3 Electronic Gear Ratio ··································································· 6-5
6.2.4 Low-pass Filter ··········································································· 6-6
6.2.5 Gain Adjustment of Position Loop···················································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode ······················· 6-7
6.3 Speed Mode ··················································································· 6-10
6.3.1 Selection of Speed Command ······················································ 6-10
6.3.2 Control Structure of Speed Mode ·················································· 6-11
6.3.3 Smooth Speed Command ··························································· 6-12
6.3.4 Timing Diagram of Speed Mode ···················································· 6-13
6.3.5 Gain Adjustment of Speed Loop···················································· 6-14
6.3.6 Resonance Suppression ····························································· 6-18
6.4 Torque Mode ·················································································· 6-23
6.4.1 Selection of Torque Command ······················································ 6-23
6.4.2 Control Structure of Torque Mode ·················································· 6-24
6.4.3 Smooth Torque Command ··························································· 6-25
6.4.4 Timing Diagram of Torque Mode ··················································· 6-25
6.5 The Use of Brake ············································································ 6-26