Motion Axis - Delta ASDA-A2 Series User Manual

7.3

Motion Axis

Motion axis is a counter within the servo drive which is used to count the data of absolute position (32-bit
integer). The available motion axes are introduced in the following table.
Axis Name
1. Motor encoder
axis (P5-16)
2. Auxiliary encoder
axis (P5-17)
3. Pulse command
axis (P5-18)
4. Capture axis
(P5-37)
5. Compare axis
(P5-57)
6. E-CAM master
axis
(P5-86)
7. Pr command axis
8. Internal time axis
9. CAP SYNC AXIS
(P5-77)
Please note:
1. Substantial axis: Position value is obtained from the actual terminal signal counts.
2. Output axis: It is the axis output by the substantial axis. The value will be not the same as the source of
substantial axis, but the increasing value will be the same as the increasing value of substantial axis.
3. Suppositional axis: It is the axis generated by the servo firmware, e.g. Pr command axis. It is unable to
command in real time so it could not be the command axis for Capture and Compare function. But it
could be regarded as the command source of the master axis of electronic cam.
Revision April, 2010
Description
It indicates the motor absolute feedback position and
the user unit is PUU.
It is the pulse counts of the auxiliary encoder (linear
scale) input by CN5. The pulse type is AB phase
pulse only.
It is the pulse counts of the host (external) controller
input from CN1. The pulse type can be defined by P1-
00.
It is the motion axis which is used to enable Capture
function. The command source could be from motor
encoder axis, auxiliary encoder axis and pulse
command axis. Position offset exists between output
axis and substantial axis. After the first point is
captured, the axis position can be defined again.
It is the motion axis which is used to enable Compare
function. The command source could be from auxiliary
encoder axis, pulse command axis and Capture axis.
Position offset exists between output axis and
substantial axis.
It is the master axis of electronic cam. The command
source could be from auxiliary encoder axis, pulse
command axis, Capture axis and Pr command axis.
Position offset exists between output axis and
substantial axis.
Command position defined by Pr path.
Internal timer. The value will increase 1 every 1msec.
The function is similar to Capture axis (P5-37). But, it
will correct the offset value of this SYNC axis (P5-78)
when capture operation is activated every two times.
(This function is available only in firmware version
V1.009 and later models).
Chapter 7 Motion Control Function|ASDA-A2 Series
Read (R) /
Attribute
Write (W)
Substantial
R
axis
Substantial
R/W
axis
Substantial
R/W
axis
R/W Output axis
R/W Output axis
R/W Output axis
Suppositional
R
axis
Suppositional
R
axis
Suppositional
R/W
axis
7-11