Low-Pass Filter; Timing Diagram Of Pr Mode - Delta ASDA-B3 Series User Manual

Operation Mode

6.2.6 Low-pass filter

6
Refer to Chapter 8 for detailed descriptions of the relevant parameter.
Parameter
P1.008

6.2.7 Timing diagram of PR mode

In PR mode, the Position command is issued with the DI signals (POS0 - POS6 and CTRG) of
CN1. Refer to Section 6.2.2 for information about the DI signal and its selected register. The timing
diagrams are shown as follows.
Note: Cmd_OK is on when the PR command is complete; TPOS is on when the error is smaller than the
value set by P1.054; MC_OK is on when Cmd_OK and TPOS are both on.
6-10
Target
position
Position command smoothing constant (low-pass filter)
Internal register
(PR#0 - 99)
Motion curve
(speed)
POS0
POS1
External
POS2
DI
CTRG
on
SON
Set the response time with P2.009
Cmd_OK
Internal
TPOS
DO
MC_OK
P1.008
Function
PR#1 PR#2
1 ms
on off
off on
off
off
off
off
PR#4
off
off
on
on
on
on
ASDA-B3