Chapter 6 Control Modes of Operation
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ASDA-A&A+ Series
6-2
Revision April 2009
The following sections describe the operation of each control mode, including control structure, command
source and loop gain adjustment, etc.
6.2 Position Control Mode
The position control mode (Pt or Pr mode) is usually used for the applications requiring precision positioning,
such as industry positioning machine, indexing table etc. Delta ASDA-A and ASDA-A+ series servo drives
support two kinds of command sources in position control mode. One is an external pulse train (Pt: Position
Terminals, External Position Control) and the other is internal parameter (Pr: Position Register, i.e. internal
parameters P1-15 to P1-30, Internal Position Control). The external pulse train with direction which can
control the rotation angle of servo motor. The max. input frequency for the external pulse command is
500Kpps and it is equal to rotation speed of 3000r/min.
In order to provide a convenient position control function, Delta servo drive provides eight internal preset
parameters for position control. There are two setting methods of internal parameters, one is to set different
position command into these eight internal parameters before operation and then use POS0~POS2 of DI
signals of CN1 to perform positioning control. The other setting method is to use serial communication to
change the setting value of these eight internal parameters.
To make the servo motor and load operate more smoothly, Delta servo drive also provide complete Position
Spine Line (P-curve) profile for position control mode. For the closed-loop positioning, speed control loop is
the principal part and the auxiliary parameters are position loop gain and feed forward compensation. The
users can also select three kinds of tuning mode (Manual/Auto/Easy modes) to perform gain adjustment.
This Section 6.2 mainly describes the applicability of loop gain adjustment and feed forward compensation of
Delta servo system.
6.2.1 Command Source of Position (Pt) Control Mode
The command source of P mode is external pulse train input form terminals. There are three types of
pulse input and each pulse type is with
·
logic type (positive (+), negative (-)). They all can be set in
parameter P1-00. Please refer to the following relevant parameters:
P1 - 00
▲
PTT
External Pulse Input Type
Communication Addr.: 0100H
Default: 2
Related Section:
Applicable Control Mode: Pt
Section 6.2.1
Unit: N/A
Range: 00 ~ 132 (ASDA-A series)
00 ~ 1132 (ASDA-A+ series)
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deltaacdrives.com
