Delta ASDA-A3 Series User Manual page 241

Motion Control
Indexing position command
You can use the Indexing Position command in any PR paths (PR#1 – PR#99). The number of
PR paths is determined by the index number. It is marked as "Index Position". See Figure
7.1.4.7.
7
PR#1 (I)(O)
Index Position
DLY=[0] 0 ms
0/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Indexing Position command section: the number of the index position. It shows the total
(1)
moving distance at the top using double arrows to show that the motor can run reciprocally
between each target position in each PR path.
Command execution type (property): a Position command can interrupt (INS) the previous
(2)
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
(3)
the controller. The servo drive starts counting the delay time once it reaches the target
position.
Position command: the numerator is the position of this PR path; the denominator is the
(4)
total moving distance of this indexing Position command, which is set by P2.052.
Rotation direction (Dir): available options are "Rotation forward (Forward)", "Rotation in
(5)
reverse (Reverse)", and "Rotation with the shortest distance (Shortest)".
Target speed: determined by shared PR parameters.
(6)
Acceleration time (ACC): determined by shared PR parameters; length of time to reach the
(7)
target speed from stopped.
Deceleration time (DEC): determined by shared PR parameters; length of time to
(8)
decelerate from target speed to stopped.
7-44
Index Position List [100000]
PR#2 (I)(O)
Index Position
DLY=[0] 0 ms
33333/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Figure 7.1.4.7 Indexing Position command display
PR#3 (I)(O)
Index Position
DLY=[0] 0 ms
66667/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
ASDA-A3
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)