Table of ContentsASDA-A2R SeriesRevision December, 20146.2.2 Position Command in PR Mode............................................................ 6-36.2.3 Control Structure of Position Mode ....................................................... 6-46.2.4 S-Curve Filter (Position) ....................................................................... 6-66.2.5 Electronic Gear Ratio ........................................................................... 6-86.2.6 Low-pass Filter ..................................................................................... 6-96.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-106.2.8 Gain Adjustment of Position Loop ........................................................ 6-116.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-126.3 Speed Mode .................................................................................................. 6-156.3.1 Selection of Speed Command .............................................................. 6-156.3.2 Control Structure of Speed Mode ......................................................... 6-166.3.3 Smooth Speed Command .................................................................... 6-186.3.4 The Scaling of Analog Command ......................................................... 6-206.3.5 The Timing Diagram in Speed Mode .................................................... 6-206.3.6 Gain Adjustment of Speed Loop ........................................................... 6-216.3.7 Resonance Suppression....................................................................... 6-266.4 Torque (force) Mode ...................................................................................... 6-316.4.1 Selection of Torque (force) Command .................................................. 6-316.4.2 Control Structure of Torque (force) Mode ............................................. 6-326.4.3 Smooth Torque (force) Command ........................................................ 6-336.4.4 The Scaling of Analog Command ......................................................... 6-336.4.5 The Timing Diagram in Torque (force) Mode ........................................ 6-346.5 Dual Mode ..................................................................................................... 6-35
