Description Of Motion Axes - Delta ASD-A2-0121 Series User Manual

ASDA-A2
7.3

Description of Motion Axes

The motion axis is an internal counter of the servo drive. It is used for counting the absolute
position of the axis (32-bit integer). The following motion axes are included in this servo drive:
Name of the Axis
1. Main Encoder
(P5-16)
2. Auxiliary
Encoder
(P5-17)
3. Pulse
Command
(P5-18)
4. Capture Axis
(P5-37)
5. Compare Axis
(P5-57)
6. Master Axis
(P5-86)
7. Command Axis
in PR Mode
8. Internal Time
Axis
9. Synchronous
Capture Axis
(P5-77)
Note: Physical Axis: The position value is counted from the actual hardware signal.
Functional Axis: It is the virtual axis which has been processed by the physical. The value might not be
Virtual Axis: The axis position comes from the internal firmware of the servo drive. The 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.
7-12
It represents the absolute feedback position of the
motor. The unit is PUU (user unit).
It is counted by the pulse signal from CN5 and
usually connects to the second encoder or linear
scale. Its pulse is A/B type.
It is counted by the pulse signal from CN1 and
usually connects to the pulse command of the
controller. The pulse type could be set by P1-00.
It is the axis which has CAP function. Its command
source could be the above-mentioned axes 1 ~ 3,
which can write the new value into it and has an
offset from the physical axis. Moreover, after
capturing the first point, the axis position can be
redefined.
It is the axis which has CMP function. Its command
source could be the above-mentioned axes 1 ~ 4,
which can write the new value into it and has an
offset from the physical axis.
It is the master axis of E-Cam. Its command source
could be the above-mentioned axes 2, 3, 4, and 7,
which can write the new value into it and has an
offset from the physical axis.
The command position is from the path generator in
PR mode.
It is the internal accumulative time counter of the
servo drive. The value increases 1 every 1ms.
It is similar to Capture Axis (P5-37); however, it
automatically adjusts the incremental pulse between
two CAPs to the setting value of P5-78. (This
function is available in the firmware version V1.009
or above versions)
the same as the source of physical axis. However, the incremental value is the same
as the one in physical axis.
Description
Chapter 7 Motion Control
Access Attribute
Physical
R
Axis
Physical
R/W
Axis
Physical
R/W
Axis
Functional
R/W
Axis
Functional
R/W
Axis
Functional
R/W
Axis
R Virtual Axis
R Virtual Axis
R/W Virtual Axis