Delta ASDA-A3 Series User Manual page 16

6.7.3 Steps for setting the full-closed loop function ·················································· 6-43
6.7.4 Parameters for full-closed loop function ························································· 6-44
6.7.4.1 Auxiliary encoder direction setting ·························································· 6-44
6.7.4.2 Auxiliary encoder resolution setting ························································ 6-47
6.7.4.3 E-Gear settings ················································································· 6-50
6.7.4.4 Setting the protection range for the feedback position error between
6.7.4.5 Setting the low-pass filter time constant for full- / semi-closed loop control ······ 6-51
6.7.4.6 Setting the error clearing function when switching between full- and
6.7.4.7 Auto clearing of the feedback position error between the main
6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes ················ 6-56
6.7.4.9 Z phase source of homing ···································································· 6-57
6.7.4.10 Encoder output settings ····································································· 6-58
6.7.4.11 Full-closed loop feedback source for the controller ··································· 6-60
6.7.5 Troubleshooting full-closed loop alarms························································· 6-61
7
Motion Control
7.1 PR mode description ························································································· 7-3
7.1.1 Shared PR parameters ················································································ 7-5
7.1.2 Monitoring variables of PR mode ··································································· 7-7
7.1.3 Motion Control commands ········································································· 7-10
7.1.3.1 Homing methods ················································································ 7-10
7.1.3.2 Speed command ················································································ 7-23
7.1.3.3 Position command ·············································································· 7-25
7.1.3.4 Jump command ················································································· 7-28
7.1.3.5 Write command ················································································· 7-30
7.1.3.6 Rotary Axis Position command (Index) ···················································· 7-32
7.1.3.7 Arithmetic operation (Statement) ··························································· 7-36
7.1.4 Overview of the PR procedure ···································································· 7-39
7.1.5 Trigger methods for the PR command··························································· 7-46
7.1.6 PR procedure execution flow ······································································ 7-50
7.2 Application of motion control ············································································· 7-64
7.2.1 Data array ······························································································ 7-64
7.2.2 High-speed position capture function (Capture)··············································· 7-68
7.2.3 High-speed position compare function (Compare) ··········································· 7-72
7.3 E-Cam ········································································································· 7-76
7.3.1 Source signal for the master axis ································································· 7-77
the main encoder and auxiliary encoder ·················································· 6-50
semi-closed loops ·············································································· 6-52
encoder and auxiliary encoder ······························································ 6-55