Control Structure Of Position Mode - Delta ASD-A2-0121 Series User Manual

Chapter 6 Control Mode of Operation

6.2.3 Control Structure of Position Mode

The basic control structure is as the following diagram:
Position Control
For a better control, the pulse signal should be processed and modified through position command
processing unit. The structure is shown as the diagram below.
Command
source
CN1
P6-00
POS5~POS0
CTRG
∣
P7-27
High speed
Pulse
Signal
Low speed
INHIBIT
The upper path of the above diagram is PR mode and the lower one is PT mode, which could be
selected via P1-01. Both modes can set E-gear ratio for the proper position resolution. Moreover,
either S-curve filter or low-pass filter can be used to smooth the command. See the description in
later parts.
6-8
Position
Command
Position
Command
Processing
Unit
Unit
Position command processing unit
Accel/Decel
Delay time
time
P5-40
P5-20
∣
∣
P5-55
P5-35
Pulse type
counter
P1-00
Speed Current
Loop Loop
GNUM0, GNUM1
Moving
speed
st
P5-60 1 Numerator (P1-44)
∣
nd
2 Numerator (P2-60)
P5-75
rd
3 Numerator (P2-61)
th
4 Numerator (P2-62)
Denominator (P1-45)
ASDA-A2
Motor
S-curve
filter
Command
P1-36
selection
P1-01
Moving filter
P1-01
Low-pass filter
P1-08
Notch Filter
P1-25
∣
P1-26
Notch Filter
P1-27
∣
P1-28