Pr Mode Introduction; Pr Mode Comparison - Delta ASDA-A2 Series User Manual

Chapter 7 Motion Control Function|ASDA-A2 Series
7.4

Pr Mode Introduction

Pr mode could be composed of one position command or multiple position commands, and triggered by DI
signal, CTRG. DI signals, POS0 ~ POS5 are used to specify the desired trigger position.
In Pr mode, electronic cam (E-CAM) is provided. The users can enable electronic cam function by Pr
command. After the electronic cam is disengaged, the system can command the motor to return to the
specified position as well.
7.5

Pr mode Comparison

Position settings
Command Type Position command
Parameters for
Position
Commands
Command Trigger It is enabled when DO signal, ZSPD
Timing is On.
Trigger Method
(When S-curve function (P1-36) is
Position
disabled, the acceleration and
Command Profile
deceleration function are also
disable.)
Format
Homing Function
Software Limit
No. This function is not provided.
Function
7-12
Old Pr mode
8 position settings
Either Absolute command or
Incremental command
Accel / Decel time x 1
Motion speed x 8
Delay time x 8
Use DI signals: CTRG + POSn
Accel /Decel S-curve
Rotation or Pulse
Execute homing function
automatically when power is
applied to the servo drive
(Servo On at the first time)
Use DI signal, SHOM
Pr mode of ASDA-A2
64 position settings
Position / Constant speed command
Program jump mode, parameter write-in
mode, etc. are available.
Absolute command / Incremental
command can be set individually.
Accel / Decel time x 16
Motion speed
Delay time
It can be enabled at any time. The users can
specify the command connection method (in
order / interrupt/ overlap).
Use DI signals: CTRG + POSn
Event trigger function: DI signals EV1 ~
4 + CAP_OK
P5-07 (Trigger Position Command)
Accel /Decel S-curve
(When S-curve function (P1-36) is disabled,
the acceleration and deceleration function
can be enabled still.)
32-bit data (user unit)
Execute homing function automatically
when power is applied to the servo
drive (Servo On at the first time)
Use DI signal, SHOM
When Pr path is set to 0, it is homing
mode. The users also can use DI
signal, CTRG to trigger Pr path 0.
After homing operation is completed, it
can execute the specified Pr path.
Yes. This function is provided.
x 16
x 16
Revision April, 2010