Delta Electronics ASDA-AB manual Control Modes of Operation

Table of ContentsASDA-AB Series

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 (Pt) Control Mode		6-2
	6.2.2 Command Source of Position (Pr) Control Mode		6-3
	6.2.3 Structure of Position Control Mode		6-4
	6.2.4 P-curve Filter for Position Control		6-5
	6.2.5	Electronic Gear Ratio	6-8
	6.2.6	Low-pass Filter	6-9
	6.2.7 Timing Chart of Position (Pr) Control Mode		6-10
	6.2.8 Position Loop Gain Adjustment		6-10
6.3	Speed Control Mode		6-13
	6.3.1 Command Source of Speed Control Mode		6-13
	6.3.2 Structure of Speed Control Mode		6-14
	6.3.3 Smoothing Strategy of Speed Control Mode		6-15
	6.3.4 Analog Speed Input Scaling		6-18
	6.3.5 Timing Chart of Speed Control Mode		6-19
	6.3.6 Speed Loop Gain Adjustment		6-19
	6.3.7	Resonance Suppression	6-24
6.4	Torque Control Mode		6-28
	6.4.1 Command Source of Torque Control Mode		6-28
	6.4.2 Structure of Torque Control Mode		6-29
	6.4.3 Smoothing Strategy of Torque Control Mode		6-29
	6.4.4 Analog Torque Input Scaling		6-30
	6.4.5 Timing Chart of Torque Control Mode		6-31

Revision January 2009