Delta ASDA-A3 Series User Manual page 269

Motion Control
It is suggested that you use the PR path programming to use the motion commands with the
Capture function. You can use Write commands to set the high-speed position capture function,
as well as to execute motion commands once capturing is complete. See the example in Figure
7.2.2.3. PR#1 confirms that the Capture function is disabled (P5.039.X Bit 0 = 0). PR#2 sets the
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start position of data array to #100. PR#3 sets the capturing amount to 3. PR#4 sets the
capturing axis' position to 0 for the first capture point. PR#5 sets the cyclic capture mode with
delay time of 1 ms to ensure that the next PR path can be executed with the Capture function.
PR#6 enables the Capture function and resets the first point; and once completed, continue
executing PR#50. This selects CN2 as the capturing axis, using 'normally closed' contact as the
trigger logic with a trigger interval of 2 ms. PR#7 sets the Speed command to 50 rpm. PR#50
sets the capture Position command to 50000 PUU. Once the command is complete, continue to
PR#51 with the Speed command setting at 50 rpm.
From Figure 7.2.2.4, you can see that after DI7 is triggered, the capturing axis is reset to 0 and the
data stored in data array #100 because the Reset function for the first point is enabled and P5.076
is set to 0. At the moment DI7 is triggered the second and third time, the position data is written to
the data array #101 and #102. Once the first capture cycle is complete, DO: [0x16]CAP is set to
on and then PR#50 (high-speed position capture command) and PR#51 (motion with fixed speed)
are executed. Then, the servo drive continues executing the next cycle; meanwhile, DO: CAP is
set to off when the procedure is complete and the capturing amount is set to 3. When DI7 is
triggered for the fourth time, the capture axis' position is not reset; the position data of the
capturing axis is written to #100 again. Therefore, the data written in the previous cycle is
replaced. At the moment DI7 is triggered the fifth and sixth time, the position data is written to the
data array #101 and #102. Once the second capture cycle is complete, DO: [0x16]CAP is set to
on and then PR#50 (high-speed position capture command) and PR#51 (motion with fixed speed)
are executed.
When using Cyclic Capture mode (P1.019.X = 1), the Reset function is only valid for the first
cycle. Executing the PR path is valid for every cycle; in other words, every time a cycle ends,
PR#50 is executed. The first position data captured in every cycle is written to the data array set
by P5.036, and then the other data is written in sequence. So, position data written in the
previous cycle is always replaced by the position data of the next cycle.
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ASDA-A3