Function Description Of Capture (Data Capture) - Delta ASD-A2 Series User Manual

ASDA-A2
Setting Method
P1-44: numerator
P1-45:
denominator

Digital Output of E-cam, the description is as follows:
DO Name and
Number
Function
When the E-cam is
engaging
When the E-cam is
disengaging
Table 1 P5-90 <= P5-91:
E-Cam angle
DO:CAM_AREA
Table 2 P5-90 > P5-91:
E-Cam angle
DO:CAM_AREA

7.11.1 Function Description of CAPTURE (Data Capture)

The concept of CAPTURE is to capture the position of motion axis instantaneously by using the
external trigger signal DI7. Then save it in data array so as to be used for motion control
afterwards. Since CAPTURE is finished by hardware, there is no problem of software delay. It
also can accurately capture the high-speed motion axis. The CAPTURE features provided by this
servo drive is as follows.
Pulse Source
Trigger signal
7-34

If the pulse number of slave axis is L, the motor axis operates
R cycle.
Then, the setting of gear ratio is P1-44/P1-45＝1280000 x R /
L

The gear ratio of PT and PR is the same.

DO.CAM_AREA (DO no.= 0x18)

If DO.CAM_AREA is ON, it means the position of E-cam axis
is in the setting range.

Set the angle range of DO ON by P5-90 and P5-91.

Please refer to table 1 and 2 below

DO.CAM_AREA is OFF.
0° ~ P5-90
OFF OFF
0° ~ P5-91
ON ON
CAPTURE Features

Main encoder of the motor

Auxiliary encoder (linear scale)

Pulse command
The selected axis will be displayed in P5-37, the default value can be
written in before capture.
Note: When the source of COMPARE is CAP axis, the CAP source
cannot be changed.

Triggered by DI7, the response time is 5 usec.
Note: DI7 directly connects to CAPTURE hardware. Thus, regardless
the setting value of P2-16 (DI Code), CAPTURE can work. When
using CAPTURE, in order to avoid DI error, system will force to
disable DI function, which means the setting will be P2-16 =
0x0100 automatically. Since the value is not written into
EEPROM, P2-16 will return to the default value after re-power on.
~ P5-91
ON ON ON
~ P5-90
OFF OFF OFF
Chapter 7 Motion Control
~ 360°
OFF OFF
~ 360°
ON ON
Revision February, 2017