Delta ASD-B2-0121-F, User Manual

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ASDA-B2-F Control Mode of Operation
September, 2015
6-3
6
6.2 Position Mode
Position mode can be used in the application which requires precise positioning function, such
as machinery industry. ASDA-B2-F only provides position mode which can be controlled via
communication network DMCNET.
6.2.1 Control Structure of Position Mode
Position Command
Motor Speed Loop Current Loop
Position Control
Unit
Position
Command
Processing Unit
Figure 6-1 Basic Control Structure of Position Mode
For better control, the position command should be processed and modified through position
command processing unit. The structure is shown as the figure below.
Counter
S-curve
Filter
P1-36
1
st
Numerator(P1-44)
2
nd
Numerator(P2-60)
3
rd
Numerator(P2-61)
4
th
Numerator(P2-62)
Denominator(P1-45)
GNUM0, GNUM1
Computer
Command
Selection
P1-01
Moving
Filter
P1-01
Low-pass
Filter
P1-08
Notch
Filter
P1-27
∣
P1-28
Notch
Filter
P1-25
∣
P1-26
Figure 6-2 Position Command Processing Unit
E-Gear ratio can be set for proper positioning resolution. Moreover, either S-curve filter or
low-pass filter can be used to smooth the command. See the description in later parts.