Chapter 6 Control Mode of Operation ASDA-M6-8 Revision December, 2014The upper path of the above diagram is PR mode and the lower one is PT mode whichcould be selected via P1-01. Both modes can set E-gear ratio for the proper positionresolution. Moreover, either S-curve filter or low-pass filter can be used to smooth thecommand. 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 thisfunction. If not, this function will be unable to use. When DI (INHP) is ON, the pulsecommand will be cleared in position control mode and the motor will stop running. (OnlyDI 6 supports this function.)PulsecommandINHP ON OFF ON6.2.4 S-curve Filter (Position)S-curve filter smoothes the motion command. With S-curve filter, the process ofacceleration becomes more continuous and the jerk will be smaller. It not only improvesthe performance when motor accelerates / decelerates, but also smoothes the operationof mechanical structure. When the load inertia increases, the operation of the motor willbe influenced by friction and inertia during the time of activation and stop. However, thesituation can be improved by increasing the value of Acceleration / DecelerationConstant of S-Curve (TSL), Acceleration Constant of S-Curve (TACC) and DecelerationConstant of S-Curve (TDEC). When the position command source is pulse, its speed andangular acceleration is continuous, thus, S-curve filter is not a must.
