Chapter 7 Motion Control ASDA-A2R Series7-36 Revision December, 20147.11.2 Function Description of COMPARE (Data Compare)The concept of COMPARE is to compare the instant position of motion axis with thevalue which is saved in data array. Then output DO3 after the COMPARE condition isestablished for motion control. Since COMPARE is finished by hardware, there is noproblem of software delay. It also can accurately compare the high-speed motion axis.The COMPARE features provided by this servo drive is as follows.COMPARE FeaturesPulse Source Main Encoder of the Motor Auxiliary Encoder (linear scale) Pulse Command CAP Axis (set by CAPTURE). When selecting this axis,CAP source cannot be changed.The selected axis is displayed in P5-57. Before compare, thedefault value can be written in.Output Signal Output by DO4 and the response time is 5 usec.Note: DO3 directly connects to COMPARE hardware, thus,regardless the setting value of P2-20 (DO Code), thefunction can work. When using COMPARE, in order toavoid DO error, the system will force to disable DOfunction, which means the setting will be P2-21 =0x0100 automatically. Since the value is not written intoEEPROM, P2-21 will return to the default value afterre-power on.Output Method Pulse output can select contact A/B. It is capable to continuously output more than one point. It can set the pulse output time.Data Storage Position Data array. The start address is set by P5-56.Compare Number It is set via P5-58 and will not exceed the limit of dataarray.Compare Format 32-bit (It has positive and negative.)Compare Condition It will be triggered when the source of compare axis passthrough the compare value.Auxiliary Selection Cycle mode: When comparing to the last point, itautomatically returns to the first point and starts tocompare. When the last compare is completed, the CAPTUREfunction is activated automatically.Note If P5-58 is set to 0, set the value of P5-59 X, Bit0 to1 willbe unable to compare. Set the value of P5-59 X, Bit0 to 0. Since the capture axis is 32-bit wide, the accumulation willcause overflow. Please avoid this.
