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Chapter 6 Control Modes of Operation|ASDA-AB Series
Revision January 2009 6-5
In order to pursue the goal of perfection in position control, the pulse signal should be modified through
position command processing and the structure is shown as the figure below:
Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to
set proper position revolution. ASDA-AB series servo drive also provides P-curve and low-pass filter,
which are used whenever the motor and load need to be operated more smoothly. As for the information
of electronic gear ratio, P-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5
and 6.2.6.
Pulse Inhibit Input Function (INHP)
INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 and DI INHP(07) in Table
7.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not
valid and the motor will stop.
Pulse
command
INHP
ON
OFF
ON
6.2.4 P-curve Filter for Position Control
The P-curve filter is for the position smoothing of motion command. Using P-curve filter can run the
servo motor more smoothly in response to a sudden position command. Since the speed and
acceleration curve are both continuous and the time for the servo motor to accelerate is short, using P-
curve filter not only can improve the performance when servo motor accelerate or decelerate but also
can make motor to operate more smoothly (from mechanical view). When the load is change, the motor
usually run not smoothly when starts to run and stop due to the friction and inertia change. At this
moment, users can increase Accel/Decel P-curve constant (TSL), Accel time constant (TACC) and
Decel time constant (TDEC) to improve the performance. Because the speed and angle acceleration
are continuous when position command is changed to pulse signal input, so it is not needed to use P-
curve filter.