Position Control Mode; Command Source Of Position (Pt) Control Mode - Delta ASDA-A2 Series User Manual

6.2

Position Control Mode

The position control mode (Pt or Pr mode) is usually used for the applications requiring precision
positioning, such as industry positioning machine, indexing table etc. Delta ASDA-A2 series servo drives
support two kinds of command sources in position control mode. One is an external pulse train (Pt:
Position Terminals, External Position Control) and the other is internal parameter (Pr: Position Register, i.e.
internal parameters P6-00 to P7-27, Internal Position Control). The external pulse train with direction which
can control the rotation angle of servo motor. The max. input frequency for the external pulse command is
4MKpps.
In order to provide a convenient position control function, Delta servo drive provides 64 internal preset
parameters for position control. There are two setting methods of internal parameters, one is to set
different position command into these 64 internal parameters before operation and then use POS0~POS5
of DI signals of CN1 to perform positioning control. The other setting method is to use serial
communication to change the setting value of these eight internal parameters.
To make the servo motor and load operate more smoothly, Delta servo drive also provide complete
Position Spine Line (P-curve) profile for position control mode. For the closed-loop positioning, speed
control loop is the principal part and the auxiliary parameters are position loop gain and feed forward
compensation. The users can also select two kinds of tuning mode (Manual/Auto modes) to perform gain
adjustment. This Section 6.2 mainly describes the applicability of loop gain adjustment and feed forward
compensation of Delta servo system.

6.2.1 Command Source of Position (Pt) Control Mode

The command source of P mode is external pulse train input form terminals. There are three types of
pulse input and each pulse type is with·logic type (positive (+), negative (-)). They all can be set in
parameter P1-00. Please refer to the following relevant parameters:
Relevant Parameter:
P1 - 00▲
PTT External Pulse Input Type
Default: 0x2
6.2.1
Applicable Control Mode: Pt
Unit: N/A
Range: 0 ~ 1132
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Revision April, 2010
Chapter 6 Control Modes of Operation|ASDA-A2 Series
Address: 0100H, 0101H
Related Section: Section
6-3