ASDA-A2 Chapter 7 Motion Control Functions7-12 Revision September 20127.3 Motion AxesMotion axis is a counter within the servo drive which is used to count the data of absoluteposition (32-bit integer). The available motion axes are introduced in the following table.Axis Name Description Read (R) /Write (W) Attribute1. Motor EncoderAxis (P5-16)It indicates the motor absolute feedbackposition and the user unit is PUU. R PhysicalAxis2. AuxiliaryEncoder Axis(P5-17)It is the pulse counts of the auxiliary encoder(linear scale) input by CN5. The pulse type isAB phase pulse only.R/W PhysicalAxis3. PulseCommand Axis(P5-18)It is the pulse counts of the host (external)controller input from CN1. The pulse type canbe defined by P1-00.R/W PhysicalAxis4. Capture Axis(P5-37)It is the motion axis which is used to enableCapture function. The command source couldbe from motor encoder axis, auxiliary encoderaxis and pulse command axis. Position offsetexists between output axis and physical axis.After the first point is captured, the axisposition can be defined again.R/W OutputAxis5. Compare Axis(P5-57)It is the motion axis which is used to enableCompare function. The command source couldbe from motor encoder axis, auxiliary encoderaxis, pulse command axis and Capture axis.Position offset exists between output axis andphysical axis.R/W OutputAxis6. E-Cam MasterAxis (P5-86)It is the master axis of electronic cam. Thecommand source could be from auxiliaryencoder axis, pulse command axis, Captureaxis and PR command axis. Position offsetexists between output axis and physical axis.(ASDA-A2 series L type models do not providethis function.)R/W OutputAxis7. PR CommandAxis Command position defined by PR. R VirtualAxis8. Internal TimeAxisInternal timer. The value will increase 1 every1msec. R VirtualAxis9. SynchronousCapture Axis(P5-77)The function is similar to Capture axis (P5-37).But, it will correct the offset value of thissynchronous axis (P5-78) when captureoperation is activated every two times.(This function is available only in firmwareversion V1.009 and later models).R/W VirtualAxisPlease note:1. Physical axis: Position value is obtained from the actual terminal signal counts.2. Output axis: It is the axis output by the physical axis. The value will not be the same asthe source of physical axis, but the increasing value will be the same as the increasingvalue of physical axis.
