Delta ASDA Series Application Notes

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Delta ASDA Series Application Notes Manual pdf 45 page image

ASDA Series Application Note Introduction of PR OperationMarch, 2015 1-391.4 Presentation of PRThis section explains how PR functions are presented. With the presentation format shown here,the whole PR procedure can be understood more easily. In this document, this format willcontinue be used to illustrate the PR profile. See Figure 1.52, PR profile can be presented withfollowing ways.1. If this PR command is completed and the PR profile is then completed without movingto the next PR (without Auto), information of this PR is presented with a rectangle frame.If the PR is with Auto function, which means it will be carrying out the next PR, this PRwill be presented in an arrow-shaped frame, pointing to the next PR. This format isadapted to all presentation of PR functions. However, Jump function can only bepresented in an arrow-shaped frame because the PR specified in the Jump commandwill definitely be executed.2. The presentation is consisted of 5 parts. See Figure 1.52 for the description of eachpart.Part (1) The number of PR.Part (2) This part shows whether this PR command has interrupt function. If yes, label(I) is presented here; If not, this part will be blank.Part (3) This part shows functions of this PR command, which are mainly homing(Home), speed control (Speed), position control (Position), write-in (Write), andjump (Jump).Part (4) Information in this part varies with PR functions. Details will be explained basedon each mode in the following content.Part (5) Information in this part varies with PR functions. Details will be explained basedon each mode in the following content.Figure 1.52 Presentation of PR3. Homing mode: As shown in Figure 1.53, interrupt function is not available in this mode.Thus, label shown in Part (2) mentioned in Figure 1.52 is not required here. In thismode, “Home” is shown in Part (3); Part (4) is for specifying offset value on thecoordinates, which is the value set by P6-01. Part (5) shows the PR command thatbeing automatically called after homing is completed. If it stops after homing iscompleted and without moving to the next PR automatically, PR#0 is marked here.