Chapter 7 Motion Control Functions ASDA-A2Revision September 2012 7-133. Virtual axis: It is the axis generated by the servo firmware, e.g. PR command axis. It isunable to command in real time so it could not be regarded as the command axis forCapture and Compare function. But it could be regarded as the command source of themaster axis of electronic cam.7.4 PR ModePR mode could be composed of one position command or multiple position commands, andtriggered by DI signal, CTRG. DI signals, POS0 ~ POS5 are used to specify the desired triggerposition.In PR mode, electronic cam (E-Cam) is provided. Users can enable electronic cam function byPRs (Position Registers). After the electronic cam is disengaged, the system can command themotor to return to the specified position as well. The PR cannot be interpreted as “Point toPoint” control. It does beyond that. The servo is capable to change its working profile underPR mode instantaneously. There are 64 PRs available.7.5 ComparisonOld PR mode PR Mode of ASDA-A2Positionsettings 8 position settings 64 position registers (64PRs)Command Type Position commandHoming mode, constant speed mode,position control mode, jump mode,write parameter mode are available.Parameters forPositionCommands Either Absolute commandor Incremental command Accel / Decel time x 1 Motion speed x 8 Delay time x 8 Absolute command / Incrementalcommand can be set individually. Accel / Decel time x 16 Motion speed x 16 Delay time x 16CommandTrigger TimingIt is enabled when DO signal,ZSPD is On.It can be enabled at any time. Users canspecify the command connectionmethod (sequential command /insertion command / overlapcommand).Trigger Method DI signals: CTRG + POSn(n: number) DI signals: CTRG + POSn(n: number) Event trigger function: DI signalsEV1 ~ 4 + CAP_OK P5-07 (Trigger Position Command)PositionCommandProfile Accel / Decel S-curve(When S-curve function (P1-36)is disabled, the accelerationand deceleration function arealso disable.) Accel / Decel S-curve(When S-curve function (P1-36) isdisabled, the acceleration anddeceleration function can be enabledstill.)Format Rotation or Pulse 32-bit data (user unit)
