5.2 Auto tuning ····································································································· 5-4 5.2.1 Flowchart of auto tuning ················································································ 5-5 5.2.2 Auto tuning with the drive panel ······································································ 5-6 5.2.3 Auto tuning with ASDA-Soft (software) ······························································ 5-7 5.2.4 Alarms related to auto tuning ········································································ 5-14 5.3 Gain adjustment modes ··················································································· 5-15 5.3.1 Flowchart of Gain adjustment mode ······························································· 5-15 5.3.2 Gain adjustment mode 1 ·············································································· 5-16 5.3.3 Gain adjustment mode 2 ·············································································· 5-16 5.3.4 Gain adjustment mode 3 ·············································································· 5-17 5.3.5 Setting the bandwidth response level (stiffness) ················································ 5-18 5.3.6 Setting the command response gain (response) ··············································· 5-19 5.4 Tuning in manual mode ··················································································· 5-20 5.5 Mechanical resonance suppression ···································································· 5-22 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 ······································································· 6-5 6.2.3 Control structure of Position mode ··································································· 6-6 6.2.4 S-curve filter for Position commands ································································ 6-7 6.2.5 Electronic gear ratio (E-Gear ratio) ·································································· 6-9 6.2.6 Low-pass filter ··························································································· 6-10 6.2.7 Timing diagram of PR mode ········································································· 6-10 6.2.8 Gain adjustment of the position loop ······························································ 6-11 6.2.9 Low-frequency vibration suppression in Position mode ······································· 6-12 6.3 Speed mode ································································································· 6-15 6.3.1 Selecting the Speed command source ···························································· 6-15 6.3.2 Control structure of Speed mode ··································································· 6-16 6.3.3 Smooth Speed command ············································································ 6-17 6.3.4 Scaling of the analog command ···································································· 6-19 6.3.5 Timing diagram of Speed mode ····································································· 6-20 6.3.6 Gain adjustment of the speed loop ································································· 6-21 6.3.7 Resonance suppression unit ········································································ 6-23 6.4 Torque mode ································································································· 6-26 6.4.1 Selecting the Torque command source ··························································· 6-26