Position Command In Pt Mode; Position Command In Pr Mode; Position Mode - Delta ASDA-B3 Series User Manual

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Two input modes for position control are available on the ASDA-B3: external pulse (PT mode)

and internal register (PR mode). In PT mode, the ASDA-B3 servo drive receives the pulse

command for direction (motor runs forward or reverse). You can control the rotation angle of the

motor with the input pulse. The ASDA-B3 can receive pulse commands of up to 4 Mpps.

You can also accomplish position control using the internal register (PR mode) without the

external pulse command. The ASDA-B3 provides 100 command registers with two input modes.

You can set the 100 registers first before switching the drive to Servo On status and then set

DI.POS0 - DI.POS6 of CN1 for the switch. Or, directly set the register values through

communication.

6.2.1 Position command in PT mode

The PT Position command is the pulse input from the terminal block. There are three pulse

types and each type has positive and negative logic that you can set in P1.000. Refer to

Chapter 8 for more details.

The PR command source is the 100 built-in command registers, (P6.000, P6.001) - (P7.098,

P7.099). Use DI (0x11) - (0x1E) (POS0 - POS6 of CN1) to select one of the 100 sets as the

Position command and trigger the command with DI.CTRG (0x08). See the following table for

more details.

Status of POS0 - POS6: 0 means that DI is off (the circuit is open); 1 means that DI is on (the

circuit is closed).

CTRG : this indicates the moment that DI is switched from off to on.

External pulse input type

Operation Mode

Corresponding

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