Motion Control - Delta ASDA-A3 Series User Manual

Motion Control

This chapter introduces internal motion commands in the ASDA-A3 in PR mode. In this
mode, commands are generated based on the internal commands of the servo drive.
Various motion commands are available, including homing, speed, position, parameter
writing, arithmetic operation, and jump. Other motion control functions such as
high-speed position capture (Capture), high-speed position compare (Compare), and
E-Cam are also available. This chapter contains detailed description of each command
type.
7.1 PR mode description ··········································································· 7-2
7.1.1 Shared PR parameters··································································· 7-4
7.1.2 Monitoring variables of PR mode ······················································ 7-6
7.1.3 Motion Control commands ······························································ 7-8
7.1.4 Overview of the PR procedure ······················································· 7-35
7.1.5 Trigger methods for the PR command ············································· 7-42
7.1.6 PR procedure execution flow ························································· 7-46
7.2 Application of motion control ······························································· 7-59
7.2.1 Data array ················································································· 7-59
7.2.2 High-speed position capturing function (Capture) ······························· 7-62
7.2.3 High-speed position comparing function (Compare) ···························· 7-66
Revision December, 2017
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