Delta Electronics ASD-B0121-A, User Manual

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Chapter 6 Control Modes of Operation
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ASDA-B Series
6-2
Revision January, 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 (P mode) is usually used for the applications requiring precision positioning, such
as industry positioning machine, indexing table etc. Delta ASDA-B series servo drive supports one kind of
command source in position control mode. That is 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 (Line
Driver) or 200Kpps (Open Collector) and it is equal to rotation speed of 3000rpm.
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 two kinds of tuning mode
(Manual/Auto 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 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:
Position pulse can be input from these terminals, PULSE (22), /PULSE (21) and SIGN (20), /SIGN (19).
It can be an open-collector circuit or line driver circuit. For the detail wiring, please refer to section 3.6.1.
Relevant parameters:
P1 - 00
▲
PTT External Pulse Input Type Communication Addr.: 0100H
Default: 2 Related Section:
Applicable Control Mode: P Section 3.3.3, Section 3.6.1,
Unit: N/A Section 6.2.1
Range: 0 ~ 142
Settings:
ASD-PU-01A ASD-PU-01B
P P
:
0
-
0
2
1 T T
Pulse type
Reserved
Logic type
Not used
•
Pulse type
0: AB phase pulse (4x)
1: CW + CCW pulse
2: Pulse + Direction