Delta Electronics ASDA-AB Position Control Mode, Command Source of Position Pt Control Mode, Ptt

Chapter 6 Control Modes of OperationASDA-AB Series

The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc.

6.2Position Control Mode

The position control mode (Pt or Pr mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-AB series servo drive supports two kinds of command sources in position control mode. One is an external pulse train (Pt: Position Terminals, External Position Control) and the other is internal parameter (Pr: Position Register, i.e. internal parameters P1-15 to P1-30, Internal Position Control). The 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 3000r/min.

In order to provide a convenient position control function, Delta servo drive provides eight internal preset parameters for position control. There are two setting methods of internal parameters, one is to set different position command into these eight internal parameters before operation and then use POS0~POS2 of DI signals of CN1 to perform positioning control. The other setting method is to use serial communication to change the setting value of these eight internal parameters.

To make the servo motor and load operate more smoothly, Delta servo drive also provide complete Position Spine Line (P-curve) profile for position control mode. 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 (Pt) 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 relevant parameters:

P1 - 00▲

PTT External Pulse Input Type Communication Addr.: 0100H

Default: 2

Applicable Control Mode: Pt

Unit: N/A

Range: 0 ~ 132

Settings:

A

B

C

not used

Related Section:

Section 6.2.1

•Value A: Pulse type

A=0: AB phase pulse (4x)

A=1: CW + CCW pulse

A=2: Pulse + Direction

6-2 Revision January 2009