Delta ASDA-B3 Series, User Manual

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ASDA-B3 Operation Mode
6-7
6
The upper path of the above diagram is the PR mode and the lower one is the PT mode that
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 (described as follows).
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 DI4, setting P2.017 (DI4) to 0x45
(DI.INHP) is required.
DI.INHP
ON
ON
OFF
Pulse
command
6.2.4 S-curve filter for Position commands
The S-curve filter for Position commands smoothes the motion command in PR mode. The filter
makes the speed and acceleration continuous and reduces jerking, resulting in a smoother
mechanical operation. If the load inertia increases, the motor operation is influenced by friction
and inertia when the motor starts or stops rotating. Setting a larger acceleration / deceleration
constant for the S-curve (P1.036) and the acceleration / deceleration time in P5.020 - P5.035 can
increase the smoothness of operation. When the Position command source is pulse, the speed
and angular acceleration are continuous, so the S-curve command filter is not necessary.
Speed
Position
Rated speed
Torque
Time (ms)
AC0 - 15
Time (ms)
Time (ms)
AC0 - 15
P1.036
2
P1.036
2
P1.036
2
P1.036
2
Position and S-curve speed and time setting (incremental position command)