Delta ASDA-A3 Series User Manual page 206

ASDA-A3
Command trigger
DI: CTRG
Command Cmd
PR position command
completed
DO: Cmd_OK
Motor reaches target
position
DO: TPOS
Servo procedure
completed
DO: MC_OK
Command trigger
DI: CTRG
Command Cmd
PR position command
completed
DO: Cmd_OK
Motor reaches
target position
DO: TPOS
Servo procedure
completed
DO: MC_OK
Figure 7.1.2.4 Operation of DI/DO signals in PR mode (including delay time)
Before issuing Command in
command
Cmd_O(Pulse) – Fb_Pulse < P1.054
Figure 7.1.2.3 Operation of DI/DO signals in PR mode
Before issuing
command
Motor in
operation
Cmd_O(Pulse) –
Fb_Pulse < P1.054
Execution
completed
execution
Command in
execution
Motor
positioned
Delay time
Motion Control
Motor
positioned
Command
completed
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