Delta-electronics AC Servo Drive ASDA-B Manual de usuario descargar pdf (Pagina 9)

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

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Delta-electronics AC Servo Drive ASDA-B Manual de usuario Pagina 9