Delta ASDA-A3 Series User Manual page 239

Motion Control
Position command
You can use the Position command in any PR paths (PR#1 – PR#99). It is marked as "Position",
and includes the options to "Stop once position control completed" and "Load the next path
7
once position control completed". The only difference is that "Load the next path once position
control completed" shows an arrow pointing to the next PR. See Figure 7.1.4.4.
Command execution type (property): a Position command can interrupt (INS) the previous
(1)
PR path. If the Interrupt function is enabled, it displays (I); if not, no information is
displayed. The Position command can overlap (OVLP) the next PR path. If delay time is
set to 0 when this function is enabled, it displays (O). If the Overlap function is not used,
no information is displayed.
Delay time (DLY): determined by shared PR parameters. It is defined by a command from
(2)
the controller. The servo drive starts counting the delay time once it reaches the target
position.
Target position: the set target position.
(3)
Position command type: "ABS" means absolute positioning; "REL" means relative
(4)
positioning; "INC" means incremental positioning; "CAP" means high-speed position
capturing.
Target speed: determined by shared PR parameters.
(5)
Acceleration time (ACC): determined by shared PR parameters; length of time to reach the
(6)
target speed from stopped.
Deceleration time (DEC): determined by shared PR parameters; length of time to
(7)
decelerate from target speed to stopped.
7-42
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
ABS
200rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Figure 7.1.4.4 Position command display
(1)
PR#1 (I)(O)
Position
(2)
DLY=[0] 0 ms
(3)
100000 PUU
(4)
ABS
(5) 200rpm
(6) Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
(7)
ASDA-A3