Chapter 7 Motion Control ASDA-A2R Series7-12 Revision December, 20147.3 Description of Motion AxesThe motion axis is an internal counter of the servo drive. It is used for counting the absoluteposition of the axis (32-bit integer). The following motion axes are included in this servodrive:Name of the Axis Description Access Attribute1. Main Encoder(P5-16)It represents the absolute feedback position ofthe motor. The unit is PUU (user unit).R PhysicalAxis2. AuxiliaryEncoder(P5-17)It is counted by the pulse signal from CN5 andusually connects to the second encoder or linearscale. Its pulse is A/B type.R/W PhysicalAxis3. PulseCommand(P5-18)It is counted by the pulse signal from CN1 andusually connects to the pulse command of thecontroller. The pulse type could be set by P1-00.R/W PhysicalAxis4. Capture Axis(P5-37)It is the axis which has CAP function. Itscommand source could be the above mentionedaxis 1~3, which can write the new value into itand has an offset from the physical axis.Moreover, after capturing the first point, the axisposition can be redefined.R/W FunctionalAxis5. Compare Axis(P5-57)It is the axis which has CMP function. Itscommand source could be the above mentionedaxis 1~4, which can write the new value into itand has an offset from the physical axis.R/W FunctionalAxis6. Master Axis(P5-86)It is the master axis of E-Cam. Its commandsource could be the above mentioned axis 2, 3, 4and 7, which can write the new value into it andhas an offset from the physical axis.R/W FunctionalAxis7. CommandAxis in PRModeThe command position is from the pathgenerator in PR mode.R VirtualAxis8. Internal TimeAxisIt is the internal accumulative time counter of theservo drive. The value increases 1 every 1ms.R VirtualAxis9. SynchronousCapture Axis(P5-77)It is similar to Capture Axis (P5-37); however, itautomatically adjusts the incremental pulsebetween two CAPs to the setting value of P5-78.R/W VirtualAxisNote: Physical Axis: The position value is counted from the actual hardware signal.Functional Axis: It is the virtual axis which has been processed by the physical. Thevalue might not be the same as the source of physical axis.However, the incremental value is the same as the one in physicalaxis.Virtual Axis: The axis position comes from the internal firmware of the servo drive.The command axis of PR mode is not instantaneous; therefore, itcannot be the command source axis of CAP and CMP function.However, it could be the command source of master axis of E-Cam.
