Position Mode; Position Command In Pt Mode - Delta ASD-A2-0121 Series User Manual

ASDA-A2

6.2 Position Mode

Position control mode is applicable in precise positioning, such as industrial machinery. The ASDA-
A2 servo drive has two command input modes: pulse and internal register. The servo drive
receives the pulse command for motor running direction and pulse input of up to 4 Mpps. For better
position control, the ASDA-A2 provides 64 sets of position command registers with two input
applications. The first one is that you can set different position values for the 64 command registers
before operation, and then use DI.POS0 – POS5 of the CN1 for switching. For the second
application, you can change the command register value through communication. To avoid the
discontinuousness when the command register switches, the servo drive provides Position Spine
Line (P-curve) for you to plan the motion. In the position closed-loop system, it mainly applies
Speed mode and uses the external incremental type position controller and pre-compensation as
auxiliary. Same as the Speed mode, two types of control mode (manual and auto) are available for
selection. This chapter only provides descriptions for incremental type position controllers, pre-
compensation and position command processing. There are two types of Position mode, PT and
PR. The PT command is the pulse input through the connector while the PR command is
determined by P6-00 – P7-27.

6.2.1 Position Command in PT Mode

PT position command is the pulse input from terminal block. There are three types of pulse and
each type has positive / negative logic which can be set in parameter P1-00. See as the followings.
P1-00▲ PTT
Operational
Interface：
Default： 0x0002
Control
Mode：
Range： 0x0000 ~ 0x1142
Data Size： 16-bit
Format： Hexadecimal
External Pulse Input Type
Panel / Software
PT
Unit： -
Chapter 6 Control Mode of Operation
Communication
Address: 0100H
0101H
Related Section:
6.2.1
6-3