Table of Contents
ASDA-B2
viii
Revision May, 2018
5.4 Trial Run without Load (Speed Mode) ............................................................. 5-8
5.5 Tuning Procedure ............................................................................................ 5-10
5.5.1 Flowchart
of
Tuning Procedure .............................................................. 5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ...................................... 5-12
5.5.3 Flowchart
of
Auto Tuning........................................................................ 5-13
5.5.4 Flowchart
of
Semi-Auto Tuning .............................................................. 5-14
5.5.5 Limit of Inertia Ratio ............................................................................... 5-15
5.5.6 Mechanical
Resonance
Suppression Method ........................................ 5-17
5.5.7 Tuning Modes and Parameters .............................................................. 5-18
5.5.8 Tuning
in
Manual Mode .......................................................................... 5-19
Chapter 6 Control Modes of Operation .................................................................. 6-1
6.1 Selection of Operation Mode ........................................................................... 6-1
6.2 Position Mode ................................................................................................. 6-3
6.2.1 Position
Command
in PT Mode .............................................................. 6-3
6.2.2 Control
Structure
of Position Mode ......................................................... 6-6
6.2.3 Electronic
Gear Ratio ............................................................................. 6-8
6.2.4 Low-pass
Filter ....................................................................................... 6-10
6.2.5 Gain
Adjustment
of Position Loop .......................................................... 6-11
6.3 Speed Mode .................................................................................................... 6-14
6.3.1 Selection
of Speed Mode ....................................................................... 6-14
6.3.2 Control
Structure of Speed Mode ........................................................... 6-15
6.3.3 Smoothing
Speed Command ................................................................. 6-16
6.3.4 The Scaling of Analog Command ........................................................... 6-20
