Index Position Command - Delta ASDA-A3 Series User Manual

Motion Control

7.1.3.6 Index Position command

The PR mode includes an Index Position command, which creates an indexing coordinate
system. This command positions the motor within the indexing coordinates. Unlike other
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feedback positions in global coordinate system, the Index Position command is able to divide
the total moving distance of one index into the number of paths required by the application (see
Figure 7.1.3.6.1). When using the Index Position command for motor operation, if the motor
position exceeds the range, absolute position or position counter overflow occurs. Refer to the
setting in Chapter 10. You can start the index positioning in the Index Coordinates Setting
Wizard in the PR screen in ASDA-Soft (see Figure 7.1.3.6.2). As shown in the example, the
start PR path is set to 1, the path number is set to 8, and the total moving distance is 80000
PUU. When you click OK, the software automatically writes position command 0 PUU to PR#01,
10000 PUU to PR#02, 20000 PUU to PR#03, and so on up to PR#08. When the index position
reaches 80000 PUU, it automatically returns to 0 PUU. In addition, you can modify the index
position in each PR path as needed, as shown in Figure 7.1.3.6.3. INS stands for the interrupt
command that interrupts the previous motion command (see Section 7.1.6.). OVLP stands for
the overlap command that allows the next PR command to overlap the command that is
currently being executed when decelerating. If you use this function, setting the delay time to 0
is suggested (refer to Section 7.1.6.). DIR sets the rotation direction with options of forward
rotation (always runs forward), reverse rotation (always runs backward), and the shortest
distance. The movement is illustrated in Figure 7.1.3.6.4. S_LOW is the speed unit with options
of 0.1 r/min or 0.01 r/min. AUTO is a command that automatically loads and executes the next
PR path when the current PR completes. ACC / DEC is the acceleration / deceleration time
determined by the shared PR parameters. SPD is the target speed specified by the shared PR
parameters. DLY is the delay time that is determined by the command from controller; meaning
that when motor reaches the target position, the servo drive starts counting the delay time.
Position command is the target position of each index segment. Note that the setting range
must be smaller than the total index moving distance (P2.052). Table 7.1.3.6.1 shows the bit
function when an Index Position command is in operation. If you use the index function, execute
homing first in order to create the coordinate system so that the origin of the motor's feedback
position and that of the motor's index position can be identical. If you do not execute homing,
AL237 occurs.
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