Application Of Motion Control; Data Array - Delta ASDA-A3 Series User Manual

Motion Control

7.2 Application of motion control

Applications of motion control in the ASDA-A3 include high-speed position capture (Capture),
high-speed position compare (Compare), and E-Cam. High-speed position capture uses digital
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input (DI7) to instantly capture the motor's feedback position and store this position in the data
array. For high-speed position compare, it writes the specified motor position to the data array
and outputs a high-speed digital signal (DO4) once the motor feedback position reaches this
specified position. The purpose of E-Cam is to create an E-Cam curve according to the
correlation between the Master and the Slave, and then store the curve in the data array.
The Slave axis refers to the Master axis' position and moves to the position specified by the
E-Cam. You can find more details about the setting and how it works in the following sections.

7.2.1 Data array

The data array can store up to 800 32-bit data (0 - 799). You can use it to store the high-speed
position capture data and high-speed position compare data as well as the E-Cam curves.
To prevent overwriting or accidentally changing any data, properly segment the space for these
three functions as their individual spaces are not defined by default. Set P2.008 to 30 and then
35 or use ASDA-Soft to write the data to EEPROM; otherwise, the data in RAM is not saved
after you turn the power off. ASDA-Soft includes a user-friendly screen for reading and writing
the data array. See the following figure.
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Figure 7.2.1.1 Data Array screen in ASDA-Soft
ASDA-A3