Position Command Unit Of Pr Mode; Registers Of Pr Mode - Delta ASDA-A2 Series User Manual

7.6

Position Command Unit of Pr Mode

The position command unit of Pr mode is presented by PUU(Pulse of User Unit). It also indicates the ratio of
position command unit of host (external) controller to internal position command unit of servo drive, i.e.
electronic gear ratio of servo drive.
1） Position command unit of servo drive (pulse): encoder unit, 1280000pulses per revolution (pulse/rev).
2） User unit (PUU): unit of host (external) controller. If the pulse number per revolution is P pulses
(PUU/rev), then the electronic gear ratio should be set to:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P
7.7

Registers of Pr Mode

1） Position registers of Pr mode: They are indicates as user unit, PUU.
2） Command register (Monitor variable 064): End register of Pr command, Cmd_E. It indicates the end of
the position command.
3） Position output register (Monitor variable 001): Cmd_O. It indicates the current output absolute position
command.
4） Feedback register (Monitor variable 000): Fb_PUU. It indicates the current motor feedback position.
5） Error register (variable 002): Err_PUU. It indicates the position error counts between position command
pulse and feedback pulse.
6） In Pr mode, at any time (no matter during operation or at stop): Err_PUU = Cmd_O - Fb_PUU.
The effect from position commands:
When position command is
Command
Type
Cmd_E = command data
Absolute (absolute)
position
Cmd_O retain unchanged
command
DO signal: CMD_OK is OFF
Cmd_E+= command data
Incremental
(incremental)
position
Cmd_O retain unchanged
command
DO signal: CMD_OK is OFF
Cmd_E retain unchanged
Stop command
Cmd_O continuously output
DI signal, STP
DO: CMD_OK output retain
unchanged
Revision April, 2010
Chapter 7 Motion Control Function|ASDA-A2 Series
given ＝＞
command is executing＝＞
Cmd_E retain unchanged
Cmd_O continuously output
...
Cmd_E retain unchanged
Cmd_O continuously output
...
Cmd_E retain unchanged
Cmd_O stop in accordance
with deceleration curve
＝＞When position
＝＞ When position
command is completed
Cmd_E retain unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is ON
Cmd_E retain unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is ON
Cmd_E retain unchanged
Cmd_O = position at stop
DO signal: CMD_OK is ON
7-13