Delta Electronics ASDA-AB Curve Filter for Position Control, Pulse Inhibit Input Function Inhp

Chapter 6 Control Modes of OperationASDA-AB Series

In order to pursue the goal of perfection in position control, the pulse signal should be modified through position command processing and the structure is shown as the figure below:

Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to set proper position revolution. ASDA-AB series servo drive also provides P-curve and low-pass filter, which are used whenever the motor and load need to be operated more smoothly. As for the information of electronic gear ratio, P-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5 and 6.2.6.

Pulse Inhibit Input Function (INHP)

INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 and DI INHP(07) in Table 7.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not valid and the motor will stop.

INHP

ON

OFF

ON

Pulse

command

6.2.4 P-curve Filter for Position Control

The P-curve filter is for the position smoothing of motion command. Using P-curve filter can run the servo motor more smoothly in response to a sudden position command. Since the speed and acceleration curve are both continuous and the time for the servo motor to accelerate is short, using P- curve filter not only can improve the performance when servo motor accelerate or decelerate but also can make motor to operate more smoothly (from mechanical view). When the load is change, the motor usually run not smoothly when starts to run and stop due to the friction and inertia change. At this moment, users can increase Accel/Decel P-curve constant (TSL), Accel time constant (TACC) and Decel time constant (TDEC) to improve the performance. Because the speed and angle acceleration are continuous when position command is changed to pulse signal input, so it is not needed to use P- curve filter.

Revision January 2009 6-5