Delta ASDA-A2 User Manual

Chapter 6 Control Mode of Operation ASDA-A2
6-8 Revision February, 2017
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 command. See the description in
later parts.

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.