Monitoring Variables Status When Executing A Command In Pr Mode; Operation Of Di/Do Signals In Pr Mode - Delta ASDA-A3 Series User Manual

Hide thumbs Also See for ASDA-A3 Series:

Table of Contents

The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the

endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the

feedback position, which is motor‟s actual position. Divide this motion command into slices and

take one of them as example. Cmd_O is the target of this command section and Err_PUU is the

deviation between the target position and the feedback position.

Position (PUU)

Figure 7.1.2.2 Monitoring variables status when executing a command in PR mode

You can use digital input (DI) and digital output (DO) to monitor PR paths. When you trigger the

motion command with DI.CTRG [0x08], the servo drive operates based on the command from

the internal registers. Once the execution is completed, DO.Cmd_OK [0x15] is set to on. When

the motor reaches its target position, DO.TPOS [0x05] is set to on. Then, after the PR Position

command completes and motor reaches the target position, both DO signals are on and the

servo outputs the MC_OK [0x17] signal to signify that it has completed this PR path. The

operation is as shown in Figure 7.1.2.3 (please refer to Table 8.2).

Motor reaches

target position

Servo procedure

Revision December, 2017

Before issuing

Figure 7.1.2.3 Operation of DI/DO signals in PR mode

Motion Control

Show Quick Links

Table of Contents