Delta ASDA Series Application Notes

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Delta ASDA Series Application Notes Manual pdf 35 page image

ASDA Series Application Note Introduction of PR OperationMarch, 2015 1-291.2.7.5 Others CAPTURE Completed / COMPARE Completed / E-CAMDisengagedIf Bit 3 of P5-39 has been set, after Capture command (P5-38 = 0) is completed, the servo willautomatically call PR#45. If P5-88.BA has been set, when E-Cam is disengaged, the system willregard the setting of P5-88.BA as PR path to be carried out and then automatically carry out thisPR.Disengagingconditions.P5-88.U= 2,4, or 6E-Cam disengagedCall any PR set byP5-88.BA.DI7P5-38 =P5-38 - 1 P5-38= =0Bit 3 ofP5-39.X==1PR#50True TrueCapture functionfinishedFigure 1.37 Other Methods of Triggering PR1.3 Motion Control1.3.1 Monitoring Variables Related to PRRegarding the operation of PR, four parameters are available to be used to observe commandsand feedback.1. Cmd_O: Command operation, the motion command in operation which represents theabsolute coordinates of the current output command. It also includes the setting ofacceleration/deceleration and target speed when operating. (monitoring variable 001)2. Cmd_E: command end, the target position; when command is issued to the servo, theservo drive will figure out the final target position and promptly update Cmd_E (variable064).3. Fb_PUU: feedback PUU, motor’s current position (monitoring variable 000).4. Err_PUU: error PUU, the deviation between command and the current position duringmotor’s operation (monitoring variable 002).Users can use PC scope of ASDA-Soft to observe PR’s monitoring variables. As shown in Figure1.38, user can select feedback position or monitoring variable 000(00h) to monitor Fb_PUU,select position command or monitoring variable 001(01h) to monitor Cmd_O, or select positiondeviation or monitoring variable 002(02h) to see Err_PUU, and then observe Cmd_E by settingup monitoring variable 064(40h). To observe monitoring variables in PC scope, check the itemADR and enter 0x10000064 to see the change of Cmd_E. In regards to the input value,0x100000 is a fixed value and the value 64 represents the 64-bit monitoring variable of targetposition.