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ASDA-A3

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Control Mode

6.2.3 Control structure of Position mode

The following diagram shows the basic control structure of Position mode.

Position command

Position

command

processing unit

6

Position control unit

Speed loop

Current loop

Motor

For better control, the pulse signals are processed by the Position command processing unit.

The structure is shown in the following diagram.

CTRG &

POS0–6

of CN1

External

pulse

command

Command

source

P6.000 ~

P7.099

Acc. /

Dec.

time

P5.020 -

P5.035

Position command processing unit

GNUM0, GNUM1

Delay

time

P5.040 -

P5.055

Target

speed

P5.060 -

P5.075

1st numerator P1.044

2nd numerator P2.060

3rd numerator P2.061

4th numerator P2.062

Pulse type

selection

P1.000

Counter

Denominator P1.045

DI.INHP

S-curve

filter

P1.036

Command

selection

P1.001

Moving filter

P1.068

Low-pass filter

P1.008

Low-frequency

vibration

suppression 1

P1.025, P1.026

Low-frequency

vibration

suppression 2

P1.027, P1.028

The upper path is the PR mode and the lower one is the PT mode, which 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 a low-pass filter to smooth the command.

Refer to the next section for more details.

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 P2.017 (DI8 functional planning),

setting P2.017 to 0x45 (DI.INHP) is required.

DI.INHP

ON

OFF

ON

Pulse

command

6-7

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