Description Of Pr Mode; The Difference Between General Pr Mode And The One In Asda-A2 - Delta ASD-A2-0121 Series User Manual

Chapter 7 Motion Control
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 are used to specify the triggered procedure
number.
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 Difference between General PR Mode and the One in ASDA-A2

Command
Number
Command Type Positioning Command

Position

Command
Parameter


Command It has to wait until DO.ZSPD is
Triggering Time ON.
Command
Triggering

Method

Position
Command
(If S-curve is not enabled, then it
PROFILE
has no function of acceleration /
deceleration)
Format of

Position
Command

Homing
Function

General PR Mode
8
Absolute or incremental
Acceleration / Deceleration
time x 1 set
Motion speed x 8 sets
Delay time x 8 sets
Use DI.CTRG + POSn
Trapezoid curve with
S-curve filter
Two registers for turns and
pulse within one turn
respectively.
The function is enabled
automatically when the
power is On. (Servo ON for
the first time)
Use DI.SHOM to trigger.
PR Mode in A2
64
Positioning / Constant speed Command
PR jump, write in parameters
Absolute / incremental can be set

individually
Acceleration / Deceleration time x

16 sets
Motion speed x 16 sets

Delay time x 16 sets

Anytime will do. It could specify the next
command issuing method (in sequence /
interrupt / overlap)
Use DI.CTRG + POSn

Event trigger: DI.Event＋CAP

complete
P5-07, fill in PR number to trigger.

Trapezoid curve with S-curve filter

(Trapezoid curve and S-curve can
be set individually.)
PUU (32-bit)

The function is enabled

automatically when the power is On.
(Servo ON for the first time)
Use DI.SHOM to trigger

PR 0 = Homing

After homing is completed, the

specified PR will be executed
automatically.
ASDA-A2
7-13