Position Mode; Control Structure Of Position Mode - Delta ASDA-B2-F Series User Manual

ASDA-B2-F

6.2 Position Mode

Position mode can be used in the application which requires precise positioning function, such
as machinery industry. ASDA-B2-F only provides position mode which can be controlled via
communication network DMCNET.

6.2.1 Control Structure of Position Mode

For better control, the position command should be processed and modified through position
command processing unit. The structure is shown as the figure below.
Computer Counter
E-Gear ratio can be set for proper positioning resolution. Moreover, either S-curve filter or
low-pass filter can be used to smooth the command. See the description in later parts.
September, 2015
Position Command
Position
Command
Processing Unit
Position Control
Speed Loop
Unit
Figure 6-1 Basic Control Structure of Position Mode
GNUM0, GNUM1
st
1 Numerator(P1-44)
nd
2 Numerator(P2-60)
S-curve
rd
3 Numerator(P2-61)
Filter
th P1-36
4 Numerator(P2-62)
Denominator(P1-45)
Figure 6-2 Position Command Processing Unit
Current Loop
Low-pass
Command Moving
Filter
Selection
Filter
P1-08
P1-01
P1-01
Control Mode of Operation
Motor
Notch Notch
Filter Filter
P1-25 P1-27
∣ ∣
P1-26 P1-28
6
6-3