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Table of Contents|ASDA-B Series
Revision February 2008, Doc. Name: 2006PDD23000009
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 Control Mode.................................................................... 6-2
6.2.2 Structure of Position Control Mode .................................................................................. 6-3
6.2.3 Pulse Inhibit Input Function (INHIBIT).............................................................................. 6-4
6.2.4 Electronic Gear Ratio ....................................................................................................... 6-4
6.2.5 Low-pass Filter ................................................................................................................. 6-6
6.2.6 Position Loop Gain Adjustment ........................................................................................ 6-6
6.3 Speed Control Mode.................................................................................................................... 6-9
6.3.1 Command Source of Speed Control Mode ...................................................................... 6-9
6.3.2 Structure of Speed Control Mode..................................................................................... 6-10
6.3.3 Smoothing Strategy of Speed Control Mode.................................................................... 6-11
6.3.4 Analog Speed Input Scaling ............................................................................................. 6-14
6.3.5 Timing Chart of Speed Control Mode............................................................................... 6-15
6.3.6 Speed Loop Gain Adjustment........................................................................................... 6-15
6.3.7 Resonance Suppression .................................................................................................. 6-23
6.4 Torque Control Mode................................................................................................................... 6-25
6.4.1 Command Source of Torque Control Mode ..................................................................... 6-25
6.4.2 Structure of Torque Control Mode.................................................................................... 6-26
6.4.3 Smoothing Strategy of Torque Control Mode................................................................... 6-27
6.4.4 Analog Torque Input Scaling ............................................................................................ 6-27
6.4.5 Timing Chart of Speed Control Mode............................................................................... 6-28
6.5 Control Modes Selection ............................................................................................................. 6-29
6.5.1 Speed / Position Control Mode Selection......................................................................... 6-29