Low-Pass Filter; Timing Diagram Of Pr Mode - Delta ASDA-A3 Series User Manual

ASDA-A3
6.2.6

Low-pass filter

Relevant parameters: please refer to Chapter 8 for detailed descriptions.
Parameter
P1.008
6.2.7

Timing diagram of PR mode

In PR mode, the Position command is issued with the DI signal (POS0 – POS6 and CTRG) for
CN1. Please refer to Section 6.2.2 for information about the DI signal and its selected register.
The timing diagrams are shown below.
Note: Cmd_OK is on when the PR command completes; TPOS is on when the error is smaller than value
set by P1.054; MC_OK is on when Cmd_OK and TPOS are both on.
Revision December, 2017
Target
position
Position command smoothing constant (Low-pass filter)
PR99
Internal
PR02
register
PR01
POS 0
POS 1
External
POS 2
DI
CTRG
on
SON
Set P2.009 if it is less than 2 ms
Cmd_OK
Internal
TPOS
Dh
MC_OK
PFLT
Function
1 ms
on off
off on
off
off
off
off
Operation Mode
off
off
on
on
on
on
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