Delta ASDA-A3 Series User Manual page 273

Motion Control
sets the comparing amount to 3. PR#7 resets the compare axis position to 0 and sets a delay of
1 ms to ensure that the PR path using the Compare function can be executed. PR#8 enables
the Compare function in Cycle mode which resets the comparing axis to 0 after the comparison
is complete, and executes PR#45. It selects CN2 as the capturing axis source, setting 'normally
7
closed' as the trigger logic with pulse output duration of 100 ms. PR#9 sets the Speed
command to 50 rpm. PR#45 sets the Incremental command to 50000 PUU and then PR#46
keeps the Speed command setting at 50 rpm.
From Figure 7.2.3.4, you see that when the comparing axis runs to 20000 pulses, it is identical
to the contents of data array #50 and the first DO4 is set to on. When the comparing axis runs
to 30000 pulses, it is identical to the contents of data array #51 and the second DO4 is set to
on. When the comparing axis runs to 40000 pulses, it is identical to the contents of data array
#52 and the third DO4 is set to on. Once the first cycle completes, the comparing axis resets to
0 and executes PR#45 (Incremental command 50000 PUU), which is equivalent to a half turn of
the motor. Therefore, the comparing axis outputs 5000 pulses, and after the position command
completes, it executes the Speed command. Then the next comparing cycle starts This is the
same as the first cycle, and the comparing axis outputs DO4 signal at 20000, 30000, and 40000
pulses respectively and then it resets to 0 and executes PR#45.
PR#1
Write
DLY=[0] 0 ms
Arr[50]=20000
PR#5 (I)
DLY=[0] 0 ms
P5.056=50
PR#45 (I)
Position
DLY=[0] 0 ms
50000 PUU
INC
100rpm
7-76
PR#2 (I)
Write
DLY=[0] 0 ms
Arr[51]=30000
PR#6 (I)
Write Write
DLY=[0] 0 ms
P5.058=3
PR#46
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
Figure 7.2.3.3 PR path using the Compare function
PR#3 (I) PR#4 (I)
Write
Write
DLY=[0] 0 ms
DLY=[0] 0 ms
P5.059=
Arr[52]=40000
0x00640030
PR#7 (I)
Write
DLY=[0] 0 ms
DLY=[10] 1 ms
P5.057=0
0x0064103B
PR#9 (I)
PR#8 (I)
Speed
Write
DLY=[0] 0 ms
50 rpm
P5.059=
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
ASDA-A3