Delta Electronics ASDA-B Series manual Command Source of Position Control Mode, Ptt, 0 0 P T T

Chapter 6 Control Modes of OperationASDA-B 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 (P mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-B series servo drive supports one kind of command source in position control mode. That is 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 3000rpm.

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 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:

Position pulse can be input from these terminals, PULSE (22), /PULSE (21) and SIGN (20), /SIGN (19). It can be an open-collector circuit or line driver circuit. For the detail wiring, please refer to section 3.6.1.

Relevant parameters:

P1 - 00▲

PTT

External Pulse Input Type

Communication Addr.: 0100H

Default: 2	Related Section:
Applicable Control Mode: P	Section 3.3.3, Section 3.6.1,
Unit: N/A	Section 6.2.1

Range: 0 ~ 142
Settings:
ASD-PU-01A	ASD-PU-01B

P 1 - 0 0 : P T T

2

Pulse type

Reserved

Logic type

Not used

•Pulse type

0:AB phase pulse (4x)

1:CW + CCW pulse

2:Pulse + Direction

6-2 Revision January, 2009