Delta ASDA-A3 Series, User Manual

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5.3.1 Flowchart of Gain adjustment mode ······························································· 5-15
5.3.2 Gain adjustment mode 1 ·············································································· 5-16
5.3.3 Gain adjustment mode 2 ·············································································· 5-16
5.3.4 Gain adjustment mode 3 ·············································································· 5-17
5.3.5 Setting the bandwidth response level (stiffness) ················································ 5-18
5.3.6 Setting the command responsiveness gain (response) ······································· 5-19
5.4 Tuning in manual mode ··················································································· 5-20
5.5 Mechanical resonance suppression ···································································· 5-22
Operation Mode
6.1 Selecting the operation mode ·············································································· 6-3
6.2 Position mode ································································································· 6-5
6.2.1 Position command in PT mode········································································ 6-5
6.2.2 Position command in PR mode ······································································· 6-5
6.2.3 Control structure of Position mode ··································································· 6-6
6.2.4 S-curve filter (Position) ·················································································· 6-7
6.2.5 Electronic gear ratio (E-Gear ratio) ·································································· 6-9
6.2.6 Low-pass filter ··························································································· 6-10
6.2.7 Timing diagram of PR mode ········································································· 6-10
6.2.8 Gain adjustment of the position loop ······························································ 6-11
6.2.9 Low-frequency vibration suppression in Position mode ······································· 6-13
6.3 Speed mode ································································································· 6-15
6.3.1 Selecting the Speed command source ···························································· 6-15
6.3.2 Control structure of Speed mode ··································································· 6-16
6.3.3 Smooth Speed command ············································································ 6-17
6.3.4 Scaling of the analog command ···································································· 6-19
6.3.5 Timing diagram of Speed mode ····································································· 6-20
6.3.6 Gain adjustment of the speed loop ································································· 6-21
6.3.7 Resonance suppression unit ········································································ 6-23
6.4 Torque mode ································································································· 6-26
6.4.1 Selecting the Torque command source ··························································· 6-26
6.4.2 Control structure of Torque mode ··································································· 6-27
6.4.3 Smooth Torque command ············································································ 6-28
6.4.4 Scaling of the analog command ···································································· 6-28
6.4.5 Timing diagram of Torque mode ···································································· 6-29
6.5 Dual mode ···································································································· 6-30
6.5.1 Speed / Position dual mode ·········································································· 6-31
6
Operation and Motion Control