Chapter 7 Motion Control ASDA-A2R Series7-14 Revision December, 2014General PR Mode PR Mode in A2Rautomatically.Software limitprotectionNo Yes7.6 The Position Unit of PR ModeThe position data of PR mode is represented by PUU (Pulse of User Unit). It is also theproportion between the controller position unit and the internal position unit of the servodrive, which is the so-called electronic gear ratio of the servo drive.1） The position unit of the servo drive (pulse):Delta’s 20bit rotary motor: Encoder unit: 1280000 (pulse/rev), which will notchange.Motor from other brands: Unit is single-phase pulse.2） User unit (PUU): The unit of the controller.Delta’s 20bit rotary motor: P pulse per revolution (PUU/rev), the gear ratio shouldset as:GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / PRotary motor from other brands: P pulse per revolution (PUU/rev), the gear ratioshould set as:GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = X / PX = encoder resolution (pulse/rev)Linear motor: if 1PUU = P m , the gear ratio should set as:GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = P*XX = encoder resolution ( pulse/m ), which is the width of single-phase pulse.7.7 Description of Register in PR Mode1） Position register of PR mode: All is represented in PUU (Pulse of User Unit).2） Command register (monitor variable 064): Command termination register Cmd_E. Itrepresents the absolute terminal coordinate of position command.3） Command output register (monitor variable001): Cmd_O; it represents the absolutecoordinate from the current output command.4） Feedback register (monitor variable 000): Fb_PUU; it shows the absolute feedbackposition of the motor.5） Deviation register (monitor variable 002): Err_PUU; it is the deviation between theregister from command output and feedback register.6） In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU =Cmd_O - Fb_PUU.
