Description Of Pr Mode; The Position Unit Of Pr Mode; Description Of Register In Pr Mode - Delta ASDA-M Series User Manual

Chapter 7 Motion Control
Name of the Axis

7.4 Description of PR Mode

PR Procedure: It is the smallest unit of command. Command could be one or many
procedures to constitute.
Procedure is triggered by DI.CTRG. POS0~POS5 is used to specify the triggered
procedure number.
Procedure is triggered by communication: The triggered procedure number is set by P5-07.
The triggered procedure is completed and will trigger the next one automatically. The
procedure number can be set and the delay time between procedures as well.
The E-Cam function is provided in PR mode. It can be enabled via PR procedure. After it is
disabled, it can return to the specified PR procedure.

7.5 The Position Unit of PR Mode

The position data of PR mode is represented by PUU (Pulse of User Unit). It is also the
proportion between the controller position unit and the internal position unit of the servo
drive, which is the so-called electronic gear ratio of the servo drive.
1. The position unit of the servo drive (pulse): Encoder unit.
It has 1280000 pulses every revolution (pulse/rev) and is unchangeable.
2. User unit (PUU): The unit of the controller.
If it has P pulse every revolution (PUU/rev), then the gear ratio should be set as:
GEAR_NUM (P1-44) / GEAR_DEN(P1-45) = 1280000 / P

7.6 Description of Register in PR Mode

1. Position register of PR mode: All is represented in PUU (Pulse of User Unit).
2. Command register (monitor variable 064): Command termination register Cmd_E. It
represents the absolute terminal coordinate of position command.
3. Command output register (monitor variable001): Cmd_O; it represents the absolute
coordinate from the current output command.
7-14
command axis of PR mode is not instantaneous; therefore, it cannot be
the command source axis of CAP and CMP function. However, it could
be the command source of master axis of E-Cam.
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ASDA-M
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Revision December, 2014