User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-3
6-2 Position Control Mode
The position control mode (Pt or Pr mode) is usually used on the applications of precision positioning, such
as industry machine, etc. Delta servo drive supports two kinds of command sources in position control mode.
One is external pulse train and the other is internal parameter. The external pulse train input with direction
can control the rotation angle of servo motor. The max. input frequency is 500Kpps (Line Driver) and it is
equal to rotation speed of 3000rpm.
In order to provide more convenient position control function, Delta servo drive provides eight internal
parameters for position control. There are two usage of internal parameters, one is to set different position
command into these eight internal parameters before operation and then use POS0~POS2 of DI signals of
CN1 to perform positioning control. The other is to use serial communication to change the setting value of
these eight internal parameters.
Beside, in order to make the servo motor and load can be operate more smoothly, Delta servo drive also
provide complete Position Spine Line (P-curve) profile for position control mode. In position close loop, users
need to set not only speed control parameter but also position loop gain and feed forward compensation
parameters. Users also can select one of three turning mode (Manual/Auto/ Easy) to perform gain
adjustment. This Chapter 6 mainly describes the applicability of loop gain adjustment, feed forward
compensation and tuning technology of Delta servo system.
Position control mode includes Position (Pt) control mode and Position (Pr) control mode. The command
source of Pt mode is external pulse train and the command source of Pr mode is internal parameters (P1-15
to P1-30).