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

Chapter 7 Motion Control Functions
3. Virtual 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 regarded as the command axis for
Capture and Compare function. But it could be regarded as the command source of the
master axis of electronic cam.

7.4 PR Mode

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. Users can enable electronic cam function by
PRs (Position Registers). After the electronic cam is disengaged, the system can command the
motor to return to the specified position as well. The PR cannot be interpreted as "Point to
Point" control. It does beyond that. The servo is capable to change its working profile under
PR mode instantaneously. There are 64 PRs available.

7.5 Comparison

Position
settings
Command Type Position command

Parameters for

Position
Commands


Command It is enabled when DO signal,
Trigger Timing ZSPD is On.

Trigger Method

Position
(When S-curve function (P1-36)
Command
is disabled, the acceleration
Profile
and deceleration function are
also disable.)
Format 
Revision September 2012
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
DI signals: CTRG + POSn
(n: number)
Accel / Decel S-curve
Rotation or Pulse
PR Mode of ASDA-A2
64 position registers (64PRs)
Homing mode, constant speed mode,
position control mode, jump mode,
write parameter mode 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. Users can
specify the command connection
method (sequential command /
insertion command / overlap
command).

DI signals: CTRG + POSn
(n: number)

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)
A2
ASDA-
x 16
x 16
7-13