Chapter 6 Control Mode of Operation ASDA-A2R Series
6-4 Revision December, 2014
turns. P1 is issued first and P2 comes after. The following diagram shows the difference
of both.
20 turns
10 turns
20 turns
10 turns
Absolute Type Incremental Type
6.2.3 Control Structure of Position Mode
The basic control structure is as the following diagram:
For a better control, the pulse signal should be processed and modified through position
command unit. Structure is shown as the diagram below.
The upper path of the above diagram is PR mode and the lower one is PT mode which
could be selected via P1-01. Both modes can set E-gear ratio for the proper position
resolution. Moreover, either S-curve filter or low-pass filter can be used to smooth the
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