Motion Control - Delta ASDA-B3 Series User Manual

Motion Control

This chapter introduces internal motion commands in the ASDA-B3 in PR mode. In this
mode, commands are generated based on the internal command of the servo drive.
Various motion commands are available, including Homing, Speed, Position, Write,
Jump, and high-speed position capture (Capture). 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 ······························································ 7-9
7.1.3.1 Homing methods ···································································· 7-9
7.1.3.2 Speed command ·································································· 7-22
7.1.3.3 Position command ································································ 7-24
7.1.3.4 Jump command ··································································· 7-28
7.1.3.5 Write command ··································································· 7-30
7.1.3.6 Index Position command························································ 7-32
7.1.4 Overview of the PR procedure ······················································· 7-36
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 ······························································· 7-58
7.2.1 Data array ················································································· 7-58
7.2.2 High-speed position capture function (Capture) ································· 7-62
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