Delta ASD-A2 Series User Manual page 219

ASDA-A2
Monitoring Variables /
Code
Attribute
Pulse from E-Cam
060
master axis
(3Ch)
(increment)
Pulse from E-Cam
mast axis
(lead pulse)
061
(3Dh)
The position of E-Cam
axis
062
(3Eh)
Position of E-Cam
063
slave axis
(3Fh)
Terminal register of PR
064
command
(40h)
Output register of PR
065
command
(41h)
PR target speed
067
(43h)
S-curve filter (input)
068
(44h)
S-curve filter (output)
069
(45h)
Speed command
072
(analog)
(48h)
B D1 Dec
Speed command of PR
076
contour
(4Ch)
Synchronous capture
081
axis
(51h)
Incremental input pulse
PR number that is
082
currently executed
(52h)
Synchronous capture
axis
084
(54h)
Deviation pulse
number
7-6
The incremental pulse number from master axis. The unit is
pulse number per msec. A2L does not support this function.
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaged: lead pulse = P5-87 or P5-92.
When it is engaged: lead pulse = P5-89. When the value is
0, it will be disengaged.
A2L does not support this function.
The position of E-Cam axis.
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis rotates M
cycle (P5-83＝M, P5-84＝P).
A2L does not support this function.
The position of E-Cam slave axis. Unit: PUU
A2L does not support this function.
In PR mode, the termination of position command (Cmd_E)
In PR mode, the accumulative output of position command
The target speed of path command in PR mode. The unit is
PPS (Pulse Per Second)
The input commands of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
The output commands of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
The speed command is issued via analog. The unit is 0.1
r/min.
This function is supported by A2-M/U/L.
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
To inform HMC the PR number that is being executed (It is
applicable to A2-F)
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will close to 0.
Chapter 7 Motion Control
Explanation
Revision February, 2017