Pr Position Command - Delta ASDA Series Application Notes

ASDA Series Application Note

1.2.4 PR Position Command

When using PR mode to configure position commands, other than target position, users have to
decide how motor reaches the target position. That is, the acceleration/ deceleration and target
speed of the motor has to be specified. Besides, delay time will start to be counted after motor
reaches the target position.
Speed
Target
Speed
Distance
PR position control of ASDA-A2 provides four types of position commands:
1. Absolute command:
The value of position command is the absolute position on the coordinates, which is the
target position.
2. Relative command:
Value of motor's current position + Value of position command = Target position
3. Incremental command:
Value of previous target position + Value of current position command = Target position
4. Capture command :
Value captured by Capture function + Value of position command = Target position
See the example in Figure 1.30. Target position of previous command is 30000 PUU, when
motor reaches position 20000 PUU, the following commands will interrupt the current motion.
1. Absolute command 60000 PUU:
Target position is the new position command, 60000 PUU.
2. Relative command 60000 PUU:
Target position (80000 PUU) = motor's current position (20000 PUU) + new position
March, 2015
4 Types of Command
DLY
Time
Distance
Figure 1.29 Setting of Position Command
command (60000 PUU)
Introduction of PR Operation
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