Delta ASDA-B2-F Series User Manual

Contents

September, 2015 III5.5.7 Tuning Mode and Parameters ································································· 5-185.5.8 Tuning in Manual Mode ········································································· 5-19Control Mode of Operation6.1 Selection of Operation Mode ········································································ 6-26.2 Position Mode ··························································································· 6-36.2.1 Control Structure of Position Mode ·························································· 6-36.2.2 S-curve Filter (Position) ········································································ 6-46.2.3 Electronic Gear Ratio ··········································································· 6-56.2.4 Low-pass Filter ··················································································· 6-66.2.5 Gain Adjustment of Position Loop ··························································· 6-66.2.6 Low-frequency Vibration Suppression in Position Mode ······························· 6-76.3 Speed Mode ····························································································· 6-106.3.1 Selection of Speed Command ································································ 6-106.3.2 Control Structure of Speed Mode ···························································· 6-116.3.3 Smooth Speed Command ····································································· 6-126.3.4 Timing Diagram of Speed Mode ····························································· 6-136.3.5 Gain Adjustment of Speed Loop ····························································· 6-146.3.6 Resonance Suppression ······································································· 6-186.4 Torque Mode ····························································································· 6-236.4.1 Selection of Torque Command ······························································· 6-236.4.2 Control Structure of Torque Mode ··························································· 6-246.4.3 Smooth Torque Command····································································· 6-256.4.4 Timing Diagram of Torque Mode ····························································· 6-256.5 The Use of Brake ······················································································· 6-26Parameters7.1 Parameter Definition ··················································································· 7-27.2 List of Parameters ······················································································ 7-37.3 Parameter Description················································································· 7-10P0-xx Monitor Parameters ······································································ 7-10P1-xx Basic Parameters ········································································· 7-22P2-xx Extension Parameters ··································································· 7-37P3-xx Communication Parameters ··························································· 7-50P4-xx Diagnosis Parameters ··································································· 7-55P5-xx Motion Setting Parameters ····························································· 7-59Parameter Setting