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

ASDA-B3

6.2.3 Control structure of Position mode

The following diagram shows the basic control structure of Position mode.
For better control, the pulse signals are processed by the Position command processing unit.
The structure is shown in the following diagram.
CN1
Command
POS0 - POS6
source
CTRG
P6.000 -
P7.099
External
pulse
command
DI.INHP
In the diagram, the upper path is the PR mode and the lower one is the PT mode, which you
can select with P1.001. You can set the E-Gear ratio in both modes to adjust the positioning
resolution. In addition, you can use either a moving filter or low-pass filter to smooth the
command. Refer to the following sections for more details.
The Pulse Command Input Inhibit (INHP) function
In PT mode, when DI.INHP is on, the servo drive stops receiving external pulse commands and
the motor stops running. As this function is only supported by P2.013 (DI4 functional planning),
setting P2.013 to 0x45 (DI.INHP) is required.
Position command processing unit
Acc. / Target
Delay time
Dec. time speed
P5.040 -
P5.020 - P5.060 -
P5.055
P5.035 P5.075
Pulse type
selection
Counter
P1.000
DI.INHP
ON
Pulse
command
GNUM0, GNUM1
S-curve
filter
st
1 numerator (P1.044)
P1.036
nd
2 numerator (P2.060)
rd
3 numerator (P2.061)
th
4 numerator (P2.062)
Denominator (P1.045)
OFF
ON
Control Mode
Command
selection
P1.001
Moving filter
P1.068
Low-pass filter
P1.008
Low-frequency
vibration
suppression 1
P1.025, P1.026
Low-frequency
vibration
suppression 2
P1.027, P1.028
6
6-7