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Operation and Motion Control
6
Operation Mode
6.1 Selecting the operation mode··············································································6-3
6.2 Position mode ·································································································6-5
6.2.1 Position command in PT mode······································································6-5
6.2.2 Position command in PR mode ·····································································6-6
6.2.3 Control structure of Position mode ·································································6-7
6.2.4 S-curve filter (Position) ················································································6-8
6.2.5 Electronic gear ratio (E-Gear ratio)·······························································6-10
6.2.6 Low-pass filter ·························································································6-11
6.2.7 Timing diagram of PR mode ·······································································6-11
6.2.8 Gain adjustment of the position loop·····························································6-12
6.2.9 Low-frequency vibration suppression in Position mode ·····································6-14
6.3 Speed mode ·································································································6-17
6.3.1 Selecting the Speed command source ··························································6-17
6.3.2 Control structure of Speed mode ·································································6-18
6.3.3 Smooth Speed command···········································································6-19
6.3.4 Scaling of the analog command···································································6-21
6.3.5 Timing diagram of Speed mode ···································································6-22
6.3.6 Gain adjustment of the speed loop ·······························································6-23
6.3.7 Resonance suppression unit·······································································6-25
6.4 Torque mode ·································································································6-28
6.4.1 Selecting the Torque command source ·························································6-28
6.4.2 Control structure of Torque mode·································································6-29
6.4.3 Smooth Torque command ··········································································6-29
6.4.4 Scaling of the analog command···································································6-30
6.4.5 Timing diagram of Torque mode ··································································6-31
6.5 Dual mode / Multi-mode···················································································6-32
6.5.1 Speed / Position dual mode ········································································6-33
6.5.2 Speed / Torque dual mode ·········································································6-34
6.5.3 Torque / Position dual mode ·······································································6-35
6.6 Others ·········································································································6-36
6.6.1 Applying the speed limit·············································································6-36
6.6.2 Applying the torque limit ············································································6-36
6.6.3 Analog monitoring ····················································································6-37
6.7 Full-closed loop control system ·········································································6-38
6.7.1 Hardware configuration ·············································································6-39
6.7.2 Control structure ······················································································6-41
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