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ASDA-A3

6.2.6 Low-pass filter

Target

position

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Control Mode

6

P1.008

Refer to Chapter 8 for detailed descriptions of the relevant parameter.

Parameter

P1.008

Function

Position command - smoothing constant (low-pass filter)

6.2.7 Timing diagram of PR mode

In PR mode, the Position command is issued with the DI signals (POS0 - POS6 and CTRG) for

CN1. Refer to Section 6.2.2 for information about the DI signal and the selected register.

The timing diagrams are shown as follows.

Internal

register

(PR#0 - 99)

PR#1

PR#2

PR#4

Motion

profile

(speed)

1 ms

POS0

on off

off

POS1

off

on

off

External

DI

POS2

off

on

CTRG

SON

on

Set the response time with P2.009

Cmd_OK

off

on

Internal

DO

TPOS

off

on

MC_OK

off

on

Note: Cmd_OK is on when the PR command is complete; TPOS is on when the error is smaller than the

value set by P1.054; MC_OK is on when Cmd_OK and TPOS are both on.

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