Delta Electronics ASDA-B Series Manual Do Utilizador

Chapter 6  Control Modes of Operation|ASDA-B Series

 

6-2  

 

Revision January, 2009

The following sections describe the operation of each control mode, including control structure, command 

source and loop gain adjustment, etc. 

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. 

 

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▲ 

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 

Pulse type

Reserved
Logic type
Not used

 

 

• Pulse type 
  0: AB phase pulse (4x) 
  1: CW + CCW pulse 
  2: Pulse + Direction