Pr Triggering Methods; Trigger By Di.ctrg / Pos0 ~ Pos5 / Stop; Parameter P5-07 - Delta ASDA Series Application Notes

Introduction of PR Operation

1.2.7 PR Triggering Methods

Multiple types of PR triggering methods are available on ASDA-A2. Users may choose the most
suitable method based on the application.

1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP

To use this trigger method, users have to use DI to select the PR to be carried out. Firstly, use
DI.POS0~5 (setting value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C) to select PR position command.
After selecting, use DI.CTRG (0x08) to carry out this PR. Users may use DI.STOP (0x46) to stop
this PR. When using DI.STOP to cease the PR operation, the part that has not yet been
executed in this PR command will not be eliminated. See Figure 1.33.
POS1~5
select PR.
Being executed PR
CTRG
STOP
If users would like to carry out the PR command that has not been completed after using
DI.STOP and it is an absolute command (ABS), users may carry out the same PR command or
call another incremental (INC) command of which position value is 0. On the other hand, if this is
not an absolute command (ABS), the only way to complete it is to call another incremental
command (INC) of which position value is 0. To clear the uncompleted PR command after using
DI.STOP, it needs to carry out a relative command (REL) of position value is 0.

1.2.7.2 Parameter P5-07

Users may use software, HMI, host controller, or panel to write the PR to be executed in P5-07.
When the read value equals the entered command value plus 10000, it means the PR command
is completely issued. When the displayed value equals the entered command value plus 2000, it
means PR command has been completely carried out. As shown in Figure 1.34, when the next
PR path to be executed is PR#20, the displayed value of P5-07 will be 20. As PR command has
been sent completely but motor is not in place, P5-07 will display 10020. After finishing carrying
out the PR, P5-07 will display 20020.
1-26
PR# 5
PR# 5
Figure 1.33 Method of Triggering PR by DI
ASDA Series Application Note
The remaining
command is still kept
inside the servo.
March, 2015