Servo System Setting; Tips For Applying Pr; Pr Program Setting - Delta ASDA Series Application Notes

ASDA Series Application Note

4.4.3 Servo System Setting

4.4.3.1 Tips for Applying PR

1) Change PR definition via parameters
All PR definition and related information can refer to relative parameters. Change the setting of
corresponding parameters can modify PR definition. Please refer to Chapter 7 of ASDA-A2 user
manual for further information about PR.
Here, we use PR#1 and PR#3 to setup the definition of PR#13 and the target jump path defined
by PR# 13 respectively.
2) Shared PR Setting
In PR mode, ASDA-A2 provides 16 sets of acceleration/deceleration, 16 sets of delay time and
16 sets of target speed for setting up PR program. If more than one PR share one target speed,
when the value of this target speed is changed, all PR settings that shared this target speed will
be modified. Speed setting for all position commands here is set as the third speed command
(P5-63). As long as the value of the thrid speed is changed (which means to write the desired
changed speed to P5-63), speed from all motion command is changed.
3) Selection of position commands
When the previous position command is interrupted by the incremental command which has zero
moving distance, motor will run to the target position (0 + destination set by previous position
command) set by previous command. That is how users can change motor's speed during
operation. When entering the changed speed, trigger the position command to interrupt the
previous command, then, new position command will be operated with the chagned speed. Thus,
motor will immediately change its speed to the target position which defined by previous
command.

4.4.3.2 PR Program Setting

PR#1: Write-in parameter. If the speed changed when it is executing the position command
(PR#4) at reverse direction, the next position command will be executed at forward direction
(PR#2).
PR#2: Position command. Execute the position command at forward direction. This PR has no
interrupt. Thus, another motion command will be executed after this command is complete.
PR#3: Write-in parameter. If the speed changed when it is executing the position command
(PR#2) at forward direction, the next position command will be executed at reverse direction
(PR#4).
March, 2015
Chapter 4 Application Techniques
4-23