Position Command In Pr Mode; Control Structure Of Position Mode - Delta ASDA-A3 Series User Manual

ASDA-A3
6.2.2

Position command in PR mode

You select the PR command source with (P6.000, P6.001) – (P7.098, P7.099), which are the 99
built-in command registers. Then, you trigger the Position command with DI.CTRG (0x08). See
the following table for more detail.
Position
POS6
command
Homing 0
P1 0
~
P50 0
P51 0
~
P99 1
State of POS0 – POS6: 0 signifies that DI is off; 1 signifies that DI is on.
CTRG : this signifies the moment that DI is switched from off to on.
There are many applications for both absolute type and incremental type registers. For example,
assume the Position command P1 is 10 turns and P2 is 20 turns. P1 is issued first and P2 comes
second. The following diagram shows the difference between absolute and incremental
positioning.
Absolute type
6.2.3

Control structure of Position mode

The basic control structure is shown in the following flow chart:
Revision December, 2017
POS5 POS4
0 0
0 0
1 1
1 1
1 0
20 turns
10 turns
Position command
Position
command
processing unit
Position control
Speed loop
unit
POS3 POS2 POS1
0 0 0
0 0 0
0 0 1
0 0 1
0 0 1
Incremental type
10 turns
Current loop
Operation Mode
Setting
POS0 CTRG
parameter
P6.000
0 ↑
P6.001
P6.002
1 ↑
P6.003
~
P6.098
0 ↑
P6.099
P7.000
1 ↑
P7.001
~
P7.098
1 ↑
P7.099
20 turns
Motor
6
6-5