Control Structure Of Position Mode - Delta ASDA-M Series User Manual

ASDA-M
Absolute Type

6.2.3 Control Structure of Position Mode

The basic control structure is as the following diagram:
Position
Command
Position
Command
Position
Control Unit
For a better control, the pulse signal should be processed and modified through position
command unit. Structure is shown as the diagram below.
Command
Register
CN1
P6-00
POS5~POS0
∣
CTRG
P7-27
High speed
Pulse
Signal
Low speed
INHIBIT
Revision December, 2014
20 turns
10 turns
Unit
Speed
Accel/ Delay
Decel Time
Register Register
P5-20 P5-40
∣ ∣
P5-35 P5-55
Pulse Type
Selection Counter
P1-00
Chapter 6 Control Mode of Operation
Incremental Type
10 turns
Current
Loop Loop
Position Command Unit
GNUM0, GNUM1
Speed
Register
P5-60
st
1 Numerator (P1-44)
∣
nd
2 Numerator (P2-60)
P5-75
rd
3 Numerator (P2-61)
th
4 Numerator
Denominator(P1-45)
20 turns
Motor
S-Curve
Filter
P1-36
(P2-62)
Command
Selection
P1-01
Moving Filter
P1-01
Low-pass
Filter
P1-08
Position
Notch Filter
P1-25
∣
P1-26
Position
Notch Filter
P1-27
∣
P1-28
6-7