Chapter 6 Control Mode of Operation ASDA-M
6-8 Revision December, 2014
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.
Pulse Command Inhibit Function (INHP)
Use DI to select INHP (Refer to P2-10~15 and table 8.1 INHP (45)) before using this
function. If not, this function will be unable to use. When DI (INHP) is ON, the pulse
command will be cleared in position control mode and the motor will stop running. (Only
DI 6 supports this function.)
Pulse
command
INHP
ON
OFF
ON
6.2.4 S-curve Filter (Position)
S-curve filter smoothes the motion command. With S-curve filter, the process of
acceleration becomes more continuous and the jerk will be smaller. It not only improves
the performance when motor accelerates / decelerates, but also smoothes the operation
of mechanical structure. When the load inertia increases, the operation of the motor will
be influenced by friction and inertia during the time of activation and stop. However, the
situation can be improved by increasing the value of Acceleration / Deceleration
Constant of S-Curve (TSL), Acceleration Constant of S-Curve (TACC) and Deceleration
Constant of S-Curve (TDEC). When the position command source is pulse, its speed and
angular acceleration is continuous, thus, S-curve filter is not a must.
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