Delta ASDA-A3 Series User Manual page 198

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 command of the servo drive.
Various motion commands are available, including Homing, Speed, Position, Write,
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 ··········································································· 7-3
7.1.1 Shared PR parameters ·································································· 7-5
7.1.2 Monitoring variables of PR mode ······················································ 7-7
7.1.3 Motion Control commands ···························································· 7-10
7.1.3.1 Homing methods ···································································· 7-10
7.1.3.2 Speed command ···································································· 7-23
7.1.3.3 Position command ·································································· 7-25
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
7.1.3.7 Arithmetic operation (Statement) ················································ 7-36
7.1.4 Overview of the PR procedure ······················································· 7-39
7.1.5 Trigger methods for the PR command ············································· 7-46
7.1.6 PR procedure execution flow ························································· 7-50
7.2 Application of motion control ······························································· 7-66
7.2.1 Data array ················································································· 7-66
7.2.2 High-speed position capture function (Capture) ································· 7-70
7.2.3 High-speed position compare function (Compare) ······························ 7-74
7.3 E-Cam ··························································································· 7-78
7.3.1 Source signal for the master axis ··················································· 7-79
7.3.2 Clutch engagement and disengagement ·········································· 7-83
7.3.3 E-Cam gears and curve scaling ····················································· 7-91
7.3.4 E-Cam curve ············································································· 7-94
7.3.5 E-Cam curve and PR command overlapping ···································· 7-102
7.3.6 Troubleshooting for E-Cam ·························································· 7-104
7.3.7 Rotary Shear ············································································ 7-106
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