Control Structure Of Position Mode - Delta ASDA-B3 Series User Manual

Operation Mode
There are many applications for both absolute type and incremental type registers. You can
easily complete a periodic motor operation according to the table above. For example, assume
the Position command PR#1 is 10 turns and PR#2 is 20 turns. PR#1 is issued first and PR#2
6
comes second. The following diagrams show the difference between absolute and incremental
positioning.

6.2.3 Control structure of Position mode

The basic control structure is shown in the following flowchart.
For better control, the pulse signals are processed by the Position command processing unit.
The structure is shown in the following diagram.
CN1
POS0 - POS6
CTRG
External
pulse
command
6-6
Absolute type
20 turns
10 turns
Position command
Position
command
processing unit
Position control
unit
Command Acc. /
Delay time
source Dec. time
P5.040
P5.020
P6.000
︱
︱ ︱
P5.055
P7.099 P5.035
Pulse type
selection
P1.000
Inhibit
Incremental type
10 turns
Speed loop Current loop
Position command processing unit
GNUM0, GNUM1
Target
speed
P5.060
st
1 numerator (P1.044)
︱
nd
2 numerator (P2.060)
P5.075
rd
3 numerator (P2.061)
th
4 numerator (P2.062)
Denominator (P1.045)
Counter
20 turns
Motor
Command
selection
P1.001
S-curve
filter
Moving filter
P1.036
P1.068
Low-pass filter
P1.008
Low-frequency
vibration suppression
P1.025, P1.026
Low-frequency
vibration suppression
P1.027, P1.028
ASDA-B3