Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 Operation Mode
6-5
6
6.2 Position mode
Two input modes for position control are available on the ASDA-B3: external pulse (PT mode)
and internal register (PR mode). In PT mode, the ASDA-B3 servo drive receives the pulse
command for direction (motor runs forward or reverse). You can control the rotation angle of the
motor with the input pulse. The ASDA-B3 can receive pulse commands of up to 4 Mpps.
You can also accomplish position control using the internal register (PR mode) without the
external pulse command. The ASDA-B3 provides 100 command registers with two input modes.
You can set the 100 registers first before switching the drive to Servo On status and then set
DI.POS0 - DI.POS6 of CN1 for the switch. Or, directly set the register values through
communication.
6.2.1 Position command in PT mode
The PT Position command is the pulse input from the terminal block. There are three pulse
types and each type has positive and negative logic that you can set in P1.000. Refer to
Chapter 8 for more details.
Parameter Function
P1.000 External pulse input type
6.2.2 Position command in PR mode
The PR command source is the 100 built-in command registers, (P6.000, P6.001) - (P7.098,
P7.099). Use DI (0x11) - (0x1E) (POS0 - POS6 of CN1) to select one of the 100 sets as the
Position command and trigger the command with DI.CTRG (0x08). See the following table for
more details.
Position
command
POS6 POS5 POS4 POS3 POS2 POS1 POS0 CTRG
Corresponding
parameter
Homing 0 0 0 0 0 0 0 ↑
P6.000
P6.001
PR#1 0 0 0 0 0 0 1 ↑
P6.002
P6.003
… …
PR#50 0 1 1 0 0 1 0 ↑
P6.098
P6.099
PR#51 0 1 1 0 0 1 1 ↑
P7.000
P7.001
… …
PR#99 1 1 0 0 0 1 1 ↑
P7.098
P7.099
Status of POS0 - POS6: 0 means that DI is off (the circuit is open); 1 means that DI is on (the
circuit is closed).
CTRG : this indicates the moment that DI is switched from off to on.