Delta ASD-A3-0121, User Manual

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ASDA-A3 Operation Mode
Revision December, 2017
6-9
6
6.2.6 Low-pass filter
Target
position
PFLT
Relevant parameters: please refer to Chapter 8 for detailed descriptions.
Parameter Function
P1.008 Position command smoothing constant (Low-pass filter)
6.2.7 Timing diagram of PR mode
In PR mode, the Position command is issued with the DI signal (POS0 – POS6 and CTRG) for
CN1. Please refer to Section 6.2.2 for information about the DI signal and its selected register.
The timing diagrams are shown below.
PR99
PR01
PR02
Internal
register
1 ms
on off
off
off on
on
off
off
on
Set P2.009 if it is less than 2 ms
POS 0
POS 1
POS 2
CTRG
SON
External
DI
on
on
on
off
off
off
Cmd_OK
TPOS
MC_OK
Internal
Dh
Note: Cmd_OK is on when the PR command completes; TPOS is on when the error is smaller than value
set by P1.054; MC_OK is on when Cmd_OK and TPOS are both on.