Chapter 6 Control Modes of Operation ASDA-B2
6-2 Revision September 2013
The steps of changing mode:
(1) Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be
off can complete this action.
(2) Using parameter P1-01. (Refer to chapter 7).
(3) After the setting is completed, cut the power off and restart the drive again.
The following sections describe the operation of each control mode, including control
structure, command source and loop gain adjustment, etc.
6.2 Position Control Mode
The position control mode is usually used for the applications requiring precision
positioning, such as industry positioning machine, indexing table etc. 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 4Mpps.
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 (PT) 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 relevant
parameters:
P1-00▲
PTT External Pulse Input Type
Address: 0100H
0101H
Operation
Interface:
Keypad/Software Communication
Related Section:
Section 6.2.1
Default: 0x2
Control
Mode:
PT
Unit: -
Range: 0 ~ 1142
Data Size: 16-bit
Display
Format:
Hexadecimal
Settings:
VARITEL INGENIERIA ELECTRONICA S.A.
info@varitel.com - www.varitel.com - Tel. (54) 11-4243-1171 / Fax: (54) 11-4292-7545
Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
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