ASDA-B2
Table of Contents
Revision May, 2018
ix
6.3.5 Timing
Diagram
in Speed Mode ............................................................. 6-21
6.3.6 Gain Adjustment of Speed Loop ............................................................. 6-21
6.3.7 Resonance
Suppression ........................................................................ 6-28
6.4 Torque Mode ................................................................................................... 6-36
6.4.1 Selection
of
Torque Command ............................................................... 6-36
6.4.2 Control
Structure of Torque Mode .......................................................... 6-37
6.4.3 Smooth
Torque Mode ............................................................................. 6-38
6.4.4 The Scaling of Analog Command ........................................................... 6-38
6.4.5 Timing
Diagram
of Torque Mode ............................................................ 6-40
6.5 Dual Modes ..................................................................................................... 6-41
6.5.1 Speed / Position Dual Mode ................................................................... 6-41
6.5.2 Speed / Torque Dual Mode .................................................................... 6-42
6.5.3 Torque / Position Dual Mode .................................................................. 6-42
6.6 Others ............................................................................................................. 6-43
6.6.1 The Use of Speed Limit .......................................................................... 6-43
6.6.2 The Use of Torque Limit ......................................................................... 6-43
6.6.3 Analog
Monitor ....................................................................................... 6-44
6.6.4 The Use of Brake ................................................................................... 6-49
Chapter 7 Parameters .............................................................................................. 7-1
7.1 Parameter Definition
........................................................................................ 7-1
7.2 Lists of Parameters ......................................................................................... 7-2
7.3 Parameter Description ..................................................................................... 7-12
P0-xx Monitor Parameters ............................................................................... 7-12
