ASDA-M Table of Content 5.3 JOG Trial Run without Load .......................................................................... 5-6 5.4 Trial Run without Load (Speed Mode) ........................................................... 5-7 5.5 Trial Run without Load (Position Mode) ......................................................... 5-9 5.6 Tuning Procedure .......................................................................................... 5-11 5.6.1 Flowchart of Tuning Procedure ............................................................. 5-13 5.6.2 Inertia Estimation Flowchart (with Mechanism) ....................................
5-14 5.6.3 Flowchart of Auto Tuning ...................................................................... 5-15 5.6.4 Flowchart of Semi-auto Tuning ............................................................. 5-16 5.6.5 Limit of Load Inertia Estimation ............................................................ 5-18 5.6.6 Mechanical Resonance Suppression Method ....................................... 5-20 5.6.7 Tuning Mode and Parameters .............................................................. 5-21 5.6.8 Tuning in Manual Mode ........................................................................
5-22 Chapter 6 Control Mode of Operation 6.1 Selection of Operation Mode ......................................................................... 6-1 6.2 Position Mode ................................................................................................ 6-3 6.2.1 Position Command of PT Mode ............................................................ 6-3 6.2.2 Position Command of 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 ........................................................................... 6-11 6.2.6 Low-pass Filter ..................................................................................... 6-13 6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-14 April, 2013