Control Structure Of Position Mode - Delta ASD-A2R-0221 Series User Manual

Chapter 6 Control Mode of Operation ASDA-A2R Series
turns. P1 is issued first and P2 comes after. The following diagram shows the difference
of both.
Absolute Type

6.2.3 Control Structure of Position Mode

The basic control structure is as the following diagram:
For a better control, the pulse signal should be processed and modified through position
command unit. Structure is shown as the diagram below.
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
6-4
20 turns
10 turns
Incremental Type
10 turns
20 turns
Revision December, 2014