The Position Unit Of Pr Mode; Description Of Register In Pr Mode - Delta ASD-A2-0121 Series User Manual

ASDA-A2
Software limit
No
protection
7.6

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: 1280000 (pulse/rev), which will not
change.
2. User unit (PUU): The unit of the controller.
P pulse per revolution (PUU/rev), the gear ratio should set as:
GEAR_NUM (P1-44) / GEAR_DEN (P1-45) = 1280000 / P

7.7 Description of Register in PR Mode

1. Position register of PR mode: All is represented in PUU (Pulse of User Unit).
2. Command register (monitoring variable 064): Command termination register Cmd_E.
It represents the absolute terminal coordinate of position command.
3. Command output register (monitoring variable 001): Cmd_O; it represents the absolute
coordinate from the current output command.
4. Feedback register (monitoring variable 000): Fb_PUU; it shows the absolute coordinate from
the feedback position of the motor.
5. Deviation register (monitoring variable 002): Err_PUU; it is the deviation between the register
from command output and feedback register.
6. In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU = Cmd_O -
Fb_PUU.
Influence brought by position command:
When issuing the command
Type of
Command
Cmd_E = command data
Absolute
(absolute)
Positioning
Cmd_O does not change.
Command
DO.CMD_OK is OFF
7-14
General PR Mode
＝＞When command is
＝＞
Cmd_E does not
change.
Cmd_O continuously
output
...
PR Mode in A2
Yes
executing＝＞
Chapter 7 Motion Control
＝＞ Command is
completed
Cmd_E does not change.
Cmd_O = Cmd_E
DO.CMD_OK is ON