Chapter 6 Control Modes of Operation
6.2 Position Control Mode
The position control mode (PT or PR mode) is usually used for the applications requiring
precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-
A2 series servo drives support two kinds of command sources in position control mode. One
is an external pulse train (PT: Position Terminals, External Position Control) and the other is
internal parameter (PR: Position Register, i.e. internal parameters P6-00 to P7-27, Internal
Position Control). The external pulse train with direction which can control the rotation angle
of servo motor. The max. input frequency for the external pulse command is 4MKpps.
In order to provide a convenient position control function, Delta servo drive provides 64
internal preset parameters for position control. There are two setting methods of internal
parameters, one is to set different position command into these 64 internal parameters
before operation and then use POS0~POS5 of DI signals of CN1 to perform positioning control.
The other setting method is to use serial communication to change the setting value of these
eight internal parameters.
To make the servo motor and load operate more smoothly, Delta servo drive also provide
complete Position Spine Line (P-curve) profile for position control mode. 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.
Revision January 2011 6-3
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Call 1(800)985-6929 for Sales
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